The Kirwan Escarpment () is a prominent northwest-facing escarpment which lies south of the Penck Trough in Queen Maud Land, Antarctica. The escarpment is featured by moderate-height cliffs and prominent rock spurs interspersed with glaciers and steep ice slopes and trends northeast–southwest for about . At least the northern end of this feature (Neumayer Cliffs) was included in the aerial photography of the general area by the Third German Antarctic Expedition (1938–39), but the maps resulting from that expedition do not portray the escarpment properly. The escarpment was mapped by Norwegian cartographers from surveys and air photos (1958–59) and named for Laurence P. Kirwan, Director of the Royal Geographical Society.
