Henry Middlemore (d. 1592) was an English courtier and diplomat. He was a younger son of Henry Middlemore of Hawkesley (d. 1549) and Margery Gatacre. His home was at Enfield in Middlesex. He leased the manor from the crown from 1582, including a house later known as Enfield Palace. He seems to have been a steward to the ambassador in France, Nicholas Throckmorton, in 1560, who describes him as a cousin. Middlemore's grandmother Eleanor was a daughter of Thomas Throckmorton of Coughton Court. Middlemore was a groom of the privy chamber to Queen Elizabeth. Henry Middlemore died in 1592.