Hilarcotherium is an extinct genus of astrapotheriid mammals that lived in South America during the Middle Miocene (Laventan). The type species is H. castanedaii, found in sediments of the La Victoria Formation, part of the Honda Group in the department of Tolima in Colombia. In 2018, Carrillo et al. described a partial skull and mandible of a second species H. miyou from the Castilletes Formation in the Cocinetas Basin of northern Colombia, and estimated the body weight of the animal at 6,465 kilograms (14,253 lb).