Abstract The Transiting Exoplanet Survey Satellite (TESS) exoplanet-hunting mission detected the rising and decaying optical afterglow of GRB 191016A, a long gamma-ray burst (GRB) detected by Swift-BAT but without prompt XRT or UVOT follow-up due to proximity to the Moon. The afterglow has a late peak at least 1000 s after the BAT trigger, with a brightest-detected TESS data point at 2589.7 s post-trigger. The burst was not detected by Fermi-LAT, but was detected by Fermi-GBM without triggering, possibly due to the gradual nature of the rising light curve. Using ground-based photometry, we estimate a photometric redshift of z _phot = 3.29 ± 0.40. Combined with the high-energy emission and optical peak time derived from TESS, estimates of the bulk Lorentz factor Γ_BL range from 90 to 133. The burst is relatively bright, with a peak optical magnitude in ground-based follow-up of R = 15.1 mag. Using published distributions of GRB afterglows and considering the TESS sensitivity and sampling, we estimate that TESS is likely to detect ∼1 GRB afterglow per year above its magnitude limit.