David Cunningham of Auchenharvie was a Scottish courtier and landowner. An absentee owner of Auchenharvie Castle, in London he was an administrator of royal rents to Charles I of England. A large number of his letters are preserved in the National Records of Scotland.

Auchenharvie Castle is a ruined castle near Torranyard on the A 736 Glasgow to Irvine road. Burnhouse lies to the north and Irvine to the south. It lies in North Ayrshire, Scotland.