Dark matter caustics have specific density profiles and, therefore, precisely calculable gravitational lensing properties. We present a formalism which simplifies the relevant calculations, and apply it to four specific cases. In the first three, the line of sight is tangent to a smooth caustic surface. The curvature of the surface at the tangent point is positive, negative or zero. In the fourth case the line of sight passes near a cusp. For each we derive the map between the image and source planes. In some cases, a point source has multiple images and experiences infinite magnification when the images merge. Unfortunately, for the dark matter caustics expected in realistic galactic halo models, the angular resolution required to resolve the multiple images is not presently achievable. A more promising approach aims to observe the distortions caused by dark matter caustics in the images of extended sources, such as radio jets.