Marcus Herennius Picens (fl. 1st century BC) was a Roman senator who served as suffect consul in 34 BC.
Herennius Picens is believed to be the grandson of Titus Herennius, who fought against the Romans during the Social War. In 34 BC, he was appointed suffect consul, replacing Gaius Memmius and occupying the office from November 1 through to December 31. Herennius Picens was probably next appointed the Proconsular governor of Asia in 33 BC.
Herennius Picens was the patron of the town of Veii. He was probably the father of Marcus Herennius Picens, who was a suffect consul in AD 1.