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Carl Peter Parelius Essendrop (6 June 1818 – 18 October 1893) was a Norwegian Lutheran bishop and politician. He was a brother of Bernhard Ludvig Essendrop.
Essendrop was the bishop of the Diocese of Tromsø from 1861 to 1867. From 1867 to 1872 he was the vicar of the Diocese of Kristiania, and also lectured at the Royal Frederick University. From 1 July 1872 to 23 November 1874 he was the Minister of Church and Education. He later filled in as acting Minister from 26 May to 4 June and 6 July to 20 July 1875. From 1875 to his death he was the bishop of the Diocese of Kristiania. During the term 1877–1879 he was a deputy member of the Norwegian Parliament, representing the constituency Kristiania, Hønefos og Kongsvinger.
Essendrop died on 18 October 1893.