Heinfried Engel (born 8 July 1947 in Haiger, Hessen) is a retired pole vaulter from Germany, who represented West Germany during his career. A member of the Union Sportclub Mainz he set his personal best (5.23 metres) on 15 February 1969 at a meet in Barcelona.
| 1967 | Tokyo, Japan | 1st | |||
| 1968 | Mexico City, Mexico | 8th | 5.20 | ||
| 1970 | Vienna, Austria | 5th | 5.00 | ||
| 1971 | Sofia, Bulgaria | 4th | 5.10 | ||
| Helsinki, Finland | 8th | 5.10 | |||
| 1972 | Grenoble, France | 7th | 4.80 |