Rudolf Freiherr von Waldenfels (4 December 1895 – 14 August 1969) was a highly decorated Generalleutnant in the Wehrmacht during World War II who commanded the 6. Panzer-Division. He was also a recipient of the Knight's Cross of the Iron Cross with Oak Leaves. The Knight's Cross of the Iron Cross and its higher grade Oak Leaves was awarded to recognise extreme battlefield bravery or successful military leadership.