Xenagoras () was the name of a number of men of classical antiquity:
Xenagoras of Halicarnassus (5th century BC), companion of the Achaemenid commander Masistes Xenagoras (historian), a historical writer, likely of the 2nd century BCE Xenagoras, historian, and father of the historian Nymphis; possibly the same man as the historian Xenagoras Xenagoras (geometer), who wrote in the ancient world about the heights of mountains