/ AbstractWe present the first measurement of nuclear recoils from solar $^8$B neutrinos via coherent elastic neutrino-nucleus scattering with the XENONnT dark matter experiment. The central detector of XENONnT is a low-background, two-phase time projection chamber with a 5.9 t sensitive liquid xenon target. A blind analysis with an exposure of 3.51 t$\times$yr resulted in 37 observed events above 0.5 keV, with ($26.4^{+1.4}_{-1.3}$) events expected from backgrounds. The background-only hypothesis is rejected with a statistical significance of 2.73 $σ$. The measured $^8$B solar neutrino flux of $(4.7_{-2.3}^{+3.6})\times 10^6 \mathrm{cm}^{-2}\mathrm{s}^{-1}$ is consistent with results from the Sudbury Neutrino Observatory. The measured neutrino flux-weighted CE$ν$NS cross section on Xe of $(1.1^{+0.8}_{-0.5})\times10^{-39} \mathrm{cm}^2$ is consistent with the Standard Model prediction. This is the first direct measurement of nuclear recoils from solar neutrinos with a dark matter detector.