St Mary and St Peter’s Church is a Grade I listed Church of England parish church dedicated to Saint Mary and Saint Peter in Harlaxton, Lincolnshire, England. The church is situated 2 miles (3 km) south-east from Grantham, and at the eastern edge of the Vale of Belvoir in South Kesteven.

St Mary and St Peter’s is noted in particular for its association with and memorials to the Harlaxton Manor Gregory and de Ligne families, c.1410 effigies of Sir Richard Rickhill and his wife, Elizabeth, and the church’s 19th-century restoration by John Oldrid Scott.