Henry II, Count of Nassau-Beilstein (died 1410) was the eldest son of Henry I and his wife, Imagina of Westerburg. He succeeded his father in 1388 as Count of Nassau-Beilstein and ruled jointly with his younger brother Reinhard.

In 1383, Henry married Catherine of Randerode. They had four children:

• Catherine (d. 1459), married in 1407 to Reinhard II, Count of Hanau
• John I (d. 1473). His son Henry IV was father of John II.
• William (d. 1430)
• Henry III (d. 1477)