Decimus or Didius Haterius Agrippa was the son of the orator and senator Quintus Haterius. He was tribune of the plebs in 15 and vetoed proposals; was praetor in 17, consul in 22, and later senator. Agrippa at one time strongly urged the emperor Tiberius to nominate a limited amount of political candidates from each family. He died in 32, as a victim of Tiberius' reign of terror.
Tacitus describes him as a "somnolent creature". He married Domitia, daughter of Antonia Major and Lucius Domitius Ahenobarbus. Their only child was the consul Quintus Haterius Antoninus.