Lillicrap is a surname. Notable people with the surname include:
Cameron Lillicrap (born 1963), Australian international rugby union player Charles Lillicrap (1887–1966), British naval architect Christopher Lillicrap (born 1949), British television presenter, writer and composer James Lillicrap (d. 1851), British Royal Navy officer John Lillicrap (1866–1937), New Zealand politician Siwan Lillicrap (born 1987), Welsh international rugby union player Timothy Lillicrap, Canadian neuroscientist and AI researcher