Eschrichtiidae or the gray whales is a family of baleen whale with a single extant species, the gray whale, as well as three described fossil genera: Archaeschrichtius and Eschrichtioides from the Miocene and Pliocene of Italy respectively, and Gricetoides from the Pliocene of North Carolina. More recent phylogenetic studies have found this family to be invalid, with its members nesting inside the Balaenopteridae. The names of the extant genus and the family honours Danish zoologist Daniel Eschricht.

Baleen whales, also known as whalebone whales, are marine mammals of the parvorder Mysticeti in the infraorder Cetacea, which use keratinaceous baleen plates in their mouths to sieve planktonic creatures from the water. Mysticeti comprises the families Balaenidae, Balaenopteridae (rorquals), Eschrichtiidae and Cetotheriidae. There are currently 16 species of baleen whales. While cetaceans were historically thought to have descended from mesonychians, molecular evidence instead supports them as a clade of even-toed ungulates (Artiodactyla). Baleen whales split from toothed whales (Odontoceti) around 34 million years ago.