Lancelot Phelps (November 9, 1784 – September 1, 1866) was an American physician and businessman who served two terms as a United States representative from Connecticut from 1835 to 1839.
He was the father of James Phelps who was also a United States Representative from Connecticut.
He attended the common schools and the studied medicine and commenced practice in Colebrook, Connecticut.
He also engaged in agricultural and mercantile pursuits in Riverton, Connecticut.
He was elected as a Jacksonian to the Twenty-fourth Congress and reelected as a Democrat to the Twenty-fifth Congress (March 4, 1835 – March 3, 1839).