Baron Cantilupe (properly Cauntelo) was a title created in the peerage of England by writ on 29 December 1299 addressed to "Willelmo de Canti Lupo" or "Cauntelo", (William de Cantilupe (1262-1308) of Greasley Castle in Nottinghamshire and of Ravensthorpe Castle in the parish of Boltby, North Yorkshire).