The Molesworth, later Molesworth-St Aubyn Baronetcy, of Pencarrow near St Mabyn in Cornwall, is a title in the Baronetage of England. It was created on 19 July 1689 for Hender Molesworth, Governor of Jamaica.
The second Baronet sat as Member of Parliament for Lostwithiel and Bossiney. The fourth Baronet represented Newport and Cornwall in the House of Commons. The fifth and sixth Baronets sat as Members of Parliament for Cornwall. The eighth Baronet was a prominent Radical politician and served as Secretary of State for the Colonies from July to October in 1855. The eleventh Baronet represented Bodmin in Parliament as a Liberal Unionist. The twelfth Baronet was the son of the Reverend Hender Molesworth (great-grandson of the fifth Baronet), who in 1844 assumed by Royal licence the additional surname of St Aubyn, his mother being the daughter and co-heiress of Sir John St Aubyn, 5th Baronet (see St Aubyn baronets). The fifteenth Baronet was High Sheriff of Cornwall from 1975 to 1976 and also served as a Deputy Lieutenant of the county.