Veenstra is a Dutch (originally Frisian) surname. Notable people with the surname include:
Erin Veenstra (born 1978), American cyclistHerman Veenstra (1911–2004), Dutch water polo playerJohan Veenstra (born 1946), Dutch writerJohanna Veenstra (1894–1933), American missionaryKenneth Veenstra (born 1939), American politicianMichiel Veenstra (born 1976), Dutch radio personalityMyrna Veenstra (born 1975), Dutch field hockey playerRené Veenstra (born 1969), Dutch sociologistRichard Veenstra (born 1981), Dutch darts playerRogier Veenstra (born 1987), Dutch footballerTine Veenstra (born 1983), Dutch bobsledderWiebren Veenstra (born 1966), Dutch cyclistWietse Veenstra (born 1946), Dutch footballer