Milan Zelenka (born 4 June 1939) is a Czech guitarist, composer and music arranger.
Zelenka was born in Czechoslovakia and studied guitar at the Prague Conservatory with Štěpán Urban.
He is best known for arrangements of traditional Czech songs, but also commissions new works for performance.
Zalenka married Czech composer Jana Obrovská and the couple had a son, Vilém (born 1987).
Vilém Zelenka graduated from Czech Technical University and often plays in a guitar duo with his father.