Štefanov nad Oravou (Hungarian: Stepanó) is a village and municipality in Tvrdošín District in the Žilina Region of northern Slovakia.
In historical records the village was first mentioned in 1355.
The municipality lies at an altitude of 570 metres (1,800 feet) and covers an area of 12.348 km² (7.67 mi²). It has a population of about 605 people.