Johannes-Rudolf Mühlenkamp (9 October 1910 – 23 September 1986) was a German Waffen-SS officer and divisional commander during World War II who led SS Division Wiking.

In the following year, September 1934, he began his military career, joining the SS-Verfügungstruppe (SS-VT), and being assigned to the Germania Regiment of the fledgling Waffen SS.

Returning to the SS-VT in May, Mühlenkamp was posted again to the Germania Regiment, as platoon leader in November 1937 after promotion to Obersturmführer, before taking command of the Motorcycle Company in May 1938.

On 3 September he was awarded the Knight's Cross in recognition of his command during the divisions drive south that year, and in particular Wiking's part in the capture of Rostov.

Mühlenkamp was made Inspector of Waffen SS Panzer Troops in October 1944, with Karl Ullrich replacing him as divisional commander.