PALINURUS was Aeneas's pilot. As they sailed toward Italy, the god of sleep overpowered Palinurus during the night and hurled him into the sea (Aeneid V.814-871). Aeneas later met him in the Underworld, where he told him how he had died (Aeneid VI.337-383).

The story of Eneas's meeting with Palinurus is painted on the brass tablet in the temple of Venus, HF I.443. [Eneas]

The name occurs in final rhyming position.