State Highway 391 is a 9.51 mile (15.30 km) long north–south state highway in the vicinity of Denver, Colorado.

The southern terminus of the route is at U.S. Highway 285 in Lakewood. The northern terminus is at Interstate 70 exit 267 in Wheat Ridge. The road is known as Kipling Parkway from US 285 north to West Mississippi Avenue and Kipling Street from Mississippi to I-70.

The route was established in 1955, when it began at Colfax Avenue and headed south to Alameda Avenue. The northern terminus was extended to 44th Avenue by 1967 and to Interstate 70 by 1968. SH 391 was extended south to U.S. Route 285 in 1985.

The entire route is in Jefferson County.