Kingswear is a village and civil parish in the South Hams area of the English county of Devon. The village is located on the east bank of the tidal River Dart, close to the river's mouth and opposite the small town of Dartmouth. It lies within the South Devon Area of Outstanding Natural Beauty, and has a population of 1,332, reducing to 1,217 at the 2011 census.

Kingswear is noted for being the railway terminus for Dartmouth, a role continued to this day by the presence of the Paignton and Dartmouth Steam Railway in the village. Two vehicle ferries and one pedestrian ferry provide links to Dartmouth.

The village itself contains several small tourist-oriented shops and public houses, and is home to the Royal Dart Yacht Club. Kingswear Castle, a privately owned 15th century artillery tower, is situated on the outskirts. Kingswear also contains the Church of St Thomas, which is a member of the Anglican Diocese of Exeter and whose patron saint is Saint Thomas of Canterbury.

Kingswear is not mentioned in the Domesday Book. However, it is believed that the settlement of Kingston, in the civil parish about 1 mile (1.6 km) to the east of the village, dates from the time of the Anglo-Saxons, with evidence of Stone Age settlers. The first documentary mention of Kingswear was c.1170 when William de Vinci gave the local church half of the land in the village.

After the murder of Thomas Becket in 1170, Becket's tomb in Canterbury became a place of pilgrimage. Pilgrims travelling by sea from further west, and from Brittany, were known to use Kingswear as a landing place. The current church was built, and dedicated to St Thomas, as a staging point on the pilgrim route. The church was rebuilt in 1847.

By 1365 a ferry was operating from Kittery Point, the westernmost tip of Kingswear, to Dartmouth. In 1636, settlers sailed from here to the mouth of the Piscataqua River in North America to found the town now known as Kittery, Maine.

In 1864 the Dartmouth and Torbay Railway reached Kingswear, providing connections to Exeter and London. The line became part of the Great Western Railway in 1876. The planned extension across the river to Dartmouth never took place, and instead rail passengers used a railway-owned ferry. The Royal Dart Hotel was constructed adjacent to the station, and provided accommodation for passengers waiting to sail to overseas destinations.

In the second half of the 19th century the Kingswear Regatta was held over two days in the summer. It was reestablished in 2006 and has been held annually since.