The Arapaho autonym is Hinono'eino or Inun-ina ("our people" or "people of our own kind"), when referring to the tribe they use Hinono'eiteen (Arapaho Nation). They were also known as Hitanwo'iv or Hetanevoeo/Hetanevo'eo'o ("People of the Sky" or "Cloud People") by their Cheyenne allies or Mahpíyato ("Blue Cloud Men") by Dakota, Mahpíya thó ("Blue Sky People") by Lakota and Assiniboine. The Caddo (Toniibeenenno' or Toniibeeneseino' - "pierced nose People") called them Detseka'yaa, the Wichita (Hinosouno' ) Nia'rhari's-kûrikiwa'ahûski, and the Comanche Saria Tühka / Säretika (Sata Teichas), all names signifying "dog-eaters". To Pawnee, Ute and other tribes they were also known as "dog-eaters".

The Northern Arapaho who called themselves Nank'haanseine'nan or Nookhose'iinenno ("white sage men") were known as Baantcline'nan or Bo'oociinenno' ("red willow men") to the Southern Arapaho, whereas the latter were called by their northern kin Nawathi'neha or Noowunenno' ("Southerners"). The Northern Arapaho were also known as BSakuune'na' (Bee'eekuunnenno') ("blood-soup men").

The Cheyenne adapted the Arapaho terms and referred to the Northern Arapaho as Vanohetan or Vanohetaneo/ Váno'étaneo'o ("Sage (Brush) People") and to the Southern Arapaho as Nomsen'nat or Nomsen'eo ("Southerners").