This chapter proposes a queer-crip genealogy in American poetry stretching from Emily Dickinson and Walt Whitman in the nineteenth century to the present day. Through close readings of poems by twentieth-century poets Adrienne Rich and Audre Lorde and twenty-first century poets Leah Lakshmi Piepzna-Samarasinha and Kay Ulanday Barrett, a queer disability poetics can be discerned and analyzed. This poetics is deeply concerned with identity, community, intersectionality, and resistance, and is characterized by themes of sexuality, witness, survival, and joy. Throughout this chapter, “crip poetics” is deployed not merely as a descriptor but as an analytic lens applied to poems that have been previously read primarily through understandings of disability as metaphor, alienation, or lack. Crip poetics instead reveals how disability can function as a source of connection, sustenance, and transformation in these poets’ work and in their worlds.