Drusilla (b. 5 A.D.) was the daughter of King Juba II of Numidia and Queen Cleopatra Selene of Mauretania, the daughter of Mark Antony and Cleopatra.

She is sometimes said to have been the first wife of Antonius Felix, procurator of Judea, but this seems to be an error; that Drusilla must have been the daughter of either this Drusilla or her brother Ptolemy of Mauretania.