Lady Audrey Walsingham was an English courtier. She served as Lady of the Bedchamber to queen Elizabeth I of England, and then as Mistress of the Robes to Anne of Denmark from 1603 until 1619.

The mistress of the robes was the senior lady in the Royal Household of the United Kingdom, who would, by appointment, attend on the Queen. Queens dowager retained their own mistresses of the robes. In the 18th century Princesses of Wales had one, too.