Dealing with dental anxiety in children is the most problematic responsibilities for pedodontists. Essential oils had been used for reducing dental anxiety in adults; this study is to understand their effects on children. Aromatherapy is considered as potent, safe, and non-pharmacological way, especially for children who go through dental procedure under local anesthesia. The aim of this study was to compare the effect of Rosemary versus Lemongrass essential oils on dental anxiety levels and vital signs of children during dental anesthesia and extraction of lower primary molar. Forty-five children, 4 to 7 years, who had a minimum of one mandibular primary molar with deep caries indicated for extraction were selected. Patients were divided, randomly, into three groups (15 each): Group I (control group): with no interference before dental procedures, Group II (Rosemary group): children inhaled three drops of rosemary oil for 3 minutes, Group III (Lemongrass group): children inhaled two drops of lemongrass oil, for 3 minutes (both before the procedure of dental anesthesia and extraction of primary molar). Wong Baker Scale and the physiological measures of the children were recorded for each child by measuring (pulse rate, oxygen saturation, and blood pressure) before, during and after dental procedures. There was statistically significant difference between the three groups in the mean scores of Wong Baker scale, pulse rate, oxygen saturation, and blood pressure. Rosemary oil produced significant reduction of dental anxiety in all treated children. Rosemary oil can be recommended in routine dental practice for reducing dental anxiety in children.