Rudolf Hesso of Baden-Baden (c. 1290 – 17 August 1335) was a son of Hesso, Margrave of Baden-Baden and his wife, Adelaide of Rieneck.

He succeeded his father as Margrave of Baden-Baden in 1297, and ruled jointly with his uncle, Rudolf III.

He married Joanna of Burgundy, Lady of Héricourt, a daughter of Reginald of Burgundy and widow of Count Ulrich II of Pfirt.

As he had no male heirs, Baden-Baden was inherited after his death by his cousin, Rudolf IV, Margrave of Baden-Pforzheim.

This article about a German margrave is a stub.