Palinurina is an extinct genus of crustaceans, belonging to the decapods.

These animals lived between the Lower Jurassic and the Upper Jurassic (about 195 - 150 million years ago) and their fossils can be found in Europe (England and Germany).

The appearance was however very similar to today's forms, with a more or less rectangular carapace, an exoskeleton covered with small tubercles, very elongated antennae and five pairs of elongated and strong legs.

Palinurina is very similar to another archaic lobster, Archaeopalinurus, originating from the Italian upper Triassic.

Between the two genera, however, there were some morphological differences, mainly with regard to the shape and ornamentation of the caudal fan, to the length of the legs and antennae.