Kostelec nad Orlicí (Czech pronunciation: [ˈkostɛlɛts ˈnat orlɪtsiː]; German: Adlerkosteletz) is a town in Rychnov nad Kněžnou District in the Hradec Králové Region of the Czech Republic.

In 1568, the attribute nad Orlicí ("upon the Orlice river") was added to distinguish it from other places with the same name.

In 1454, the estate was bought by King George of Poděbrady, who gave the town its coat of arms.

In 1796, Kostelec was bought by Josef Kinsky, and his family were the last owners of the town until it gained self-government.

The castle complex includes a large park, which is protected as a nature reserve.

In 1769–1773, the original Gothic church was replaced by the current late Baroque building.