Erotic massage or sensuous massage is the use of massage techniques by a person on another person's erogenous zones to achieve or enhance their sexual excitation or arousal.

Massages have been used for medical purposes for a very long time, and their use for erotic purposes also has a long history. In the case of women, the two focal areas are the breasts and pubis, while in case of men, the focal area is the male genitals. When the massage is of a partner's genitals, the act is usually referred to as masturbation.

Today, erotic massage is used by some people on occasion as a part of sex, either as foreplay or as the final sex act, or as part of sex therapy.