Helgeroa is a village in Larvik Municipality in Vestfold county, Norway. The village is located along the Helgerofjorden at the Skaggerak coast in southwestern Vestfold. It is located about 3 kilometres to the north of the village of Nevlunghavn and about 12 kilometres southwest of the town of Larvik. Nevlunghavn and neighboring Helgeroa have grown together through conurbation so that Statistics Norway considers them to form one urban area.