William Roscoe Estep (February 12, 1920 – July 14, 2000) was an American Baptist historian and professor.
Estep was professor of Church history emeritus at Southwestern Baptist Theological Seminary from 1954 until his retirement in 1990, however he continued to teach until 1994.
During that time, he wrote numerous works on subjects including Baptist and Anabaptist history, religious liberty and world missions.
Estep's most significant contribution was his work on the Anabaptist movement of the 16th century and he wrote several books on the subject.
He was married to Edna Alice, and they had two sons, William Merl Estep and Martin Andrew Estep; daughters Rhoda Elaine Macdonald, Mary McDowell Morgan and Lena Jane Gipson.