Exhibit 23.1

Consent of Independent Registered Public Accounting Firm

We consent to the incorporation by reference in the following Registration Statements:

(1)Registration Statement (Form S-8 No. 333-260441) pertaining to the Pyxis Oncology, Inc. 2019 Stock Plan, Pyxis Oncology, Inc. 2021 Equity and Incentive Plan, and the Pyxis Oncology, Inc. 2021 Employee Stock Purchase Plan,

(2)Registration Statement (Form S-8 No. 333-263950) pertaining to the Pyxis Oncology, Inc. 2021 Equity and Incentive Plan,

(3)Registration Statement (Form S-8 No. 333-266005) pertaining to the Pyxis Oncology, Inc. 2022 Inducement Plan,

(4)Registration Statement (Form S-8 No. 333-270753) pertaining to the Pyxis Oncology, Inc. 2021 Equity and Incentive Plan and the Pyxis Oncology, Inc. 2021 Employee Stock Purchase Plan,

(5)Registration Statement (Form S-8 No. 333-274178) pertaining to the Apexigen, Inc. 2022 Equity Incentive Plan,

(6)Registration Statement (Form S-8 No. 333-272510) pertaining to the Apexigen, Inc. 2010 Equity Incentive Plan, the Apexigen, Inc. 2020 Equity Incentive Plan, and the Apexigen, Inc. 2022 Equity Incentive Plan, and

(7)Registration Statement (Form S-3 No. 333-268100) of Pyxis Oncology, Inc.;

of our report dated March 21, 2024, with respect to the consolidated financial statements of Pyxis Oncology, Inc., included in this Annual Report (Form 10-K) of Pyxis Oncology, Inc. for the year ended December 31, 2023.

/s/ Ernst & Young LLP

Boston, Massachusetts

March 21, 2024