Marcus Vipsanius Agrippa
Antoninus was the only child to Domitia Lepida the Elder and Decimus Haterius Agrippa, consul in 22. His paternal grandfather was the influential orator and senator Quintus Haterius; Ronald Syme suggests that his paternal grandmother was the daughter of Marcus Vipsanius Agrippa and Caecilia Attica. Sabina Tariverdieva believes her to be the daughter of Agrippa's sister Vipsania Polla.