Joseph Kinghorn (1766–1832) was an English particular Baptist minister in Norwich.
Kinghorn was born at Gateshead-on-Tyne, County Durham, on 17 January 1766. His father, David Kinghorn (3 October 1737 – 18 February 1822) was a shoemaker and Baptist preacher at Newcastle-on-Tyne, who was ordained on 1 May 1771 as minister of a Baptist congregation at Burton-Bishop, East Riding of Yorkshire, where he remained till July 1799, when he retired to Norwich. Joseph was his eldest son by his second wife, Elizabeth (d. 25 January 1810, aged 72), second daughter of Joseph Jopling of Satley.
After four years' schooling, Kinghorn was taken on trial as apprentice to watch- and clock-making at Hull in 1779, but in March 1781 became a clerk in the white-lead works at Elswick, Northumberland of Walker Fishwick & Co. In April 1783 he was baptised by his father at Burton-Bishop, and considered entering the ministry. He made the acquaintance of Robert Hall, and had thoughts of joining him at the University of Aberdeen, but on 20 August 1784 he entered Bristol Baptist Academy, under Caleb Evans. His closest friend there was James Hinton (1761–1823).
On leaving the academy, Kinghorn ministered for some months (from May 1788) at Fairford, Gloucestershire. He received an invitation to Norwich, because of a business connection between Richard Fishwick who worked at his old firm, and Thomas Hawkins, both Baptists, Hawkins belonging to the congregation at St. Mary's Chapel, Norwich. On 27 March 1789 he settled in Norwich, and was ordained on 20 May 1790.