Dr. Donald Harry Steininger, 58, a former associate deputy director of the Central Intelligence Agency for science and technology, died of cancer June 20 at Norwalk Hospital in Norwalk, Conn. He lived in Westport, Conn.

Dr. Steininger, who was born in St. Louis, graduated from the U.S. Military Academy at West Point, N.Y., in 1947. He was commissioned in the Army Ordnance Corps. He remained in the Army until 1969, when he retired with the rank of lieutenant colonel.

He joined the CIA in that year as associate deputy director for science and technology. He held that post until 1974, when he resigned and joined the Xerox Corp. in Stamford, Conn. He received the Distinguished Intelligence Medal, the CIA's highest honor.

In the course of his military career, Dr. Steininger earned a doctorate in physics at Penn State University. In the early 1960s, he was assigned to Kwajalein Atoll in the Marshall Islands in the Pacific as chief of test operations for the first Nike-Zeus ballistic missile program. He also headed planning for the Nike antiballistic missile program.

In 1962, he was assigned to the Office of Science and Technology in the Executive Office of the President in the White House. He was responsible for technical aspects of intelligence collection, ground warfare and military and civilian space systems. He also was a member of the President's Science Advisory Committee. He remained at the White House until he left the Army.

At the CIA, Dr. Steininger was responsible for research and development, the operation of technical intelligence collection facilities, and analysis and reporting of foreign technical and weapons intelligence.

At Xerox, he was in charge of the corporate research staff.

Dr. Steininger was a member of the Defense Science Board, an advisory arm of the Defense Department, and, since 1978, the chairman of a panel of consultants to the Senate Select Committee on Intelligence.

He was a member of the University Club and a former member of the Cosmos Club. He lived in McLean until moving to Westport when he joined Xerox.

Survivors include his wife, Marion, of Westport; a son, Steven, of Hartford, Conn.; a daughter, Linda, of Westport, and his mother, Helen D. Steininger of McLean.