Tamaulipasaurus (meaning "Tamaulipas lizard") is an extinct genus of lepidosauromorph reptile from the Early Jurassic of Mexico.

It contains a single species, Tamaulipasaurus morenoi, which is based on skull material found at Huizachal Canyon, a productive fossil site in the La Boca Formation.

[1][2] Tamaulipasaurus had an unusual condensed skull similar to that of amphisbaenians, a modern group of burrowing squamates.

It also possessed a variety of plesiomorphic ("primitive") skull features indicating that it was not a true squamate.

Nevertheless, other traits do support a position close to squamates, within the broader reptile group Lepidosauromorpha.