Cantilever couplers for fiber coupling to silicon photonic integrated circuits are presented. The couplers consist of silicon inverse width tapers embedded within silicon dioxide cantilevers that are deflected out-of plane by residual stress. Coupling efficiencies of 1.6 dB per connection for TE polarization and 2 dB per connection for TM polarization are achieved. Finite difference time domain simulations are conducted to assess coupling loss as a function of cantilever geometry and fiber-to-cantilever misalignment. The cantilever couplers enable high efficiency propagation of light from optical fibers to photonic integrated circuits directly on a chip surface without dicing or cleaving.