In the Book of Genesis, Zilpah (זִלְפָּה "Drooping", Standard Hebrew Zilpa, Tiberian Hebrew Zilpāh) is a concubine of Jacob and the mother of Gad and Asher.

According to classical Judaic texts she was also a daughter of Laban, but was given to his other daughter Leah as a handmaiden on the occasion of her marriage to Jacob, see Genesis 29:24, 46:18. Leah later presented her to her husband Jacob as a concubine.

Zilpah is burried in the Tomb of the Matriarchs in Tiberias.