Icarosaurus (meaning "Icarus lizard") is an extinct genus of kuehneosaurid reptile from the Late Triassic (Norian age) Lower Lockatong Formation of New Jersey.

Like its relative Kuehneosaurus, it was able to glide short distances using 'wings' consisting of highly elongated ribs covered with skin.

The only known fossil skeleton which definitely belongs to Icarosaurus was found in 1960 in North Bergen, New Jersey by Alfred Siefker, a teenager at the time, who stumbled upon the specimen while exploring a quarry.

Siefker brought the specimen to scientists at the American Museum of Natural History in New York for identification and preparation.

That same year, Spight donated the Icarosaurus holotype back to the AMNH, where it was put on display 7 October 2000.