Andrew Robert Kiefer (May 25, 1832, in Marienborn, Grand Duchy of Hesse; May 1, 1904, in Saint Paul, Minnesota) was an American politician. Between 1893 and 1897, he represented the state of Minnesota in the U.S. House of Representatives. Andrew Kiefer was born in 1832 in Marienborn, which is now a district of Mainz. At the time of his birth, the area was part of the German Confederation. Kiefer attended public schools in Mainz and emigrated to the United States in 1849. In 1855, he settled in Saint Paul in the Minnesota Territory. In 1857, he became an inspector at the local shipyard. Afterwards, he was engaged in trade. In 1859 and 1860, Kiefer also served as an administrative officer in the Minnesota House of Representatives.