Rosalio José Castillo Lara SDB (4 September 1922 – 16 October 2007) was a Venezuelan prelate of the Catholic Church.

He worked in the Roman Curia for almost all of his career, first with responsibility for rewriting the code of canon law and then in administrative positions in the government of the Holy See.

Castillo Lara was born in San Casimiro, diocese of Maracay, in Venezuela's Aragua State, on 4 September 1922.

Third son of seven children, he was ordained a priest on 4 September 1949, by his uncle, Archbishop Castillo Hernandez of Caracas.

He was also a member of several other bodies, including the Cardinals' Supervisory Commission for the Institute for Religious Works, commonly known as the Vatican Bank.