In Greek mythology, Elpenor (Ἐλπήνωρ, gen.: Ἐλπήνορος) was a comrade of Odysseus.

Elpenor was not especially notable for his intelligence or strength, but he survived the Trojan War, and appears in the Odyssey. He is the youngest man to survive the Laestrygonians. While Odysseus was staying on Aeaea, Circe's island, Elpenor became drunk and climbed onto the roof of Circe's palace to sleep. The next morning, waking upon hearing his comrades making preparations to travel to Hades, he forgot he was on the roof and fell to his death. Odysseus and his men apparently noticed his absence, but they were too busy to look for him. When Odysseus arrived in Hades, Elpenor was the first shade to meet Odysseus, and pleaded with him to return to Aeaea and give him a proper cremation and burial. After finishing his task in the underworld, Odysseus returned to Aeaea and cremated Elpenor's body, then buried him with his armour and marked the grave with an oar of his ship.