Rudolf Pěnkava (born November 21, 1945) is a Czechoslovak sprint canoeist who competed in the mid to late 1960s.

He won the silver medal in the C-1 10000 m event at the 1966 ICF Canoe Sprint World Championships in East Berlin.

Pěnkava also competed in two Summer Olympics, earning his best finish of eighth in the C-2 1000 m event at Tokyo in 1964.

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