Stephen (or Étienne) III (died 1241) was Count of Auxonne.
He was from the House of Ivrea, son of Stephen II, Count of Auxonne (died after 1173) and Judith of Lorraine (c. 1140 – 1173).
His father Stephen II of Auxonne was son of William III, Count of Mâcon and his wife Poncette/Alice, lady of Traves.
His mother Judith was daughter of Matthias I, Duke of Lorraine and Bertha Hohenstaufen (daughter of Frederick II, Duke of Swabia).
Stephen III married, firstly (c. 1186), Beatrix, Countess of Châlon, daughter of William, Count of Chalon and Beatrix, a daughter of Frederick Barbarossa, Holy Roman Emperor), but they divorced between 1197 and 1200.