Abstract The mechanism driving ion outflow from Jupiter’s auroras remains to be determined. H+ ${mathrm{H} }^{+}$ outflow has been observed with highly field‐aligned pitch angles consistent with acceleration by high‐altitude electrostatic potential structures. However, the cold ionospheric ions require a pre‐acceleration mechanism to reach Jupiter’s large escape speed and access the potential structures. Here we present case studies of H+ ${mathrm{H} }^{+}$ outflow coincident with intense H+ ${mathrm{H} }^{+}$ ion cyclotron waves (ICWs). We invoke resonant wave heating to suggest a causality between the two phenomena. We further investigate Landau resonance with auroral electron beams as a plausible source of free energy using cold plasma theory, finding that electron energies between 10 and 100 keV produce results consistent with ICW observations. H2+ ${mathrm{H} }{2}^{+}$ and H3+ ${mathrm{H} }{3}^{+}$ ICWs are likewise present, which we suggest indicates that Jovian ion outflow is a multi‐species process.