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Pedro Fernández de Velasco, 2nd Count of Haro (in full, Spanish: Don Pedro Fernández de Velasco y Manrique, segundo conde de Haro, sexto Condestable de Castilla, señor de los valles de Saba y Ruesga, y de las villas de Briviesca, Puebla de Arganzón, Arnedo, Medina de Pomar, Santo Domingo de Silos, Salas de los Infantes, Villalpando, señor de Haro, Belorado, Frías, Villasiego y Herrera, Camarero mayor de Enrique IV de Castilla y de los Reyes Católicos, Merino mayor de Castilla la Vieja, Virrey y capitán general del Reino de Navarra y de las Provincias Vascongadas) (c. 1425 – 1492) was a Spanish nobleman and military figure of the last stages of the Reconquista.
Fernández de Velasco was born in Burgos, the son of Pedro Fernández de Velasco and of Beatriz Manrique. He became Camarero Mayor of King Henry IV of Castile, and viceroy and governor of Castile. In 1473 Henry IV named him sixth Constable of Castile and made this title hereditary in his family.
He participated in the conquest of Úbeda and Baeza, which both occurred on Saint Andrew's day. He also fought against the Moors in the battles of Gibraltar and Archidona and participated in the conquest of Granada, where he died. He and his wife are buried in the Capilla del Condestable in the Burgos Cathedral.
He married Mencía de Mendoza y Figueroa, with whom he had six children.