In this study, we report the novel, complete mitochondrial genomes of two dwarf African antelope species: Raphicerus melanotis (Cape grysbok) and R. sharpei (Sharpe’s grysbok). The circular mitogenomes were 16,384 and 16,392 base pairs in length, respectively, and each contained the expected 37 genes typically found in mammalian mitogenomes. The maximum-likelihood phylogenetic analysis placed R. sharpei as the sister lineage to R. campestris, known as steenbok, which is the only other member of the Raphicerus genus, with 83% bootstrap support, to the exclusion of R. melanotis (100% bootstrap support). This corroborated previous findings based on the cytochrome b gene only. The number of base differences per site between the coding regions of the mitogenomes of R. sharpei and R. campestris was 0.0519, while it was 0.0701 between R. sharpei and R. melanotis and 0.0709 between R. melanotis and R. campestris. The novel grysbok mitogenomes will be valuable resources in future phylogenetic analyses, and phylogeographic and conservation genetics studies.