Cumnoria is a genus of herbivorous iguanodontian dinosaur. It was a basal iguanodontian that lived during the Late Jurassic period in what is now Oxfordshire, United Kingdom.

The Iguanodontia are a clade of herbivorous dinosaurs that lived from the Middle Jurassic to Late Cretaceous. Some members include Camptosaurus, Dryosaurus, Iguanodon, Tenontosaurus, and the hadrosaurids or "duck-billed dinosaurs". Iguanodontians were one of the first groups of dinosaurs to be found. They are among the best known of the dinosaurs, and were among the most diverse and widespread herbivorous dinosaur groups of the Cretaceous period.