An approach to rock art based in aesthetics is proposed for. Objections to such an approach, stemming from archaeologists and anthropologists, are addressed and described in terms of their epistemological, methodological and ethical dimensions. Key objections are explained and answered by noting that they tend to base on an outdated conception of art that precedes 20th century developments. It is argued that, once the art historical viewpoint is adjusted so that it incorporates the development of 20th and 21st century art and aesthetic theory, an approach to rock art from the perspective of aesthetics can be recognised as a valuable resource for understanding the lifeworld of its creators and the human condition that we share with them.