Jacob Esselens (Amsterdam, 1626 - there, 1687) was a Dutch painter and draftsman from the Golden Age period. He made landscapes and portraits. As a painter he was self-taught. His work shows influences from Rembrandt and Simon de Vlieger.

Esselens was a merchant in silk and velvet and made many trips to Germany, France, Italy, England and Scotland. During those travels he made many images of landscapes and cityscapes, several of which were included in the Atlas Van der Hem.

In 1663 he traveled along the Rhine in the company of Gerbrand van den Eeckhout and Jan Lievens, as evidenced by the many drawings the three artists made of the same locations, including van Rhenen, Arnhem and Kleef. In addition to many topographically correct landscapes and cityscapes, he also makes fantasized landscapes, with a lot of attention for animal and human figures.

Esselens married at a later age. On April 20, 1668, he had banns posted to Janneken Jans from Amsterdam. He had a will drawn up with her in 1674. She died in 1677. His activities as a merchant ensured that he was well off and employed several weavers.

Jacob Esselens was buried in Amsterdam on January 15, 1687.