Objective: The study aimed to assess how socio-demographic variables related to self-esteem, psychological stress and health-related quality of life among older adults in Nepal. Method: A cross-sectional community-based study was conducted in the Kavrepalanchowk district of Nepal. A two-stage cluster sampling technique was used for selecting the study areas, and 239 older adult participants were selected randomly from the clusters. The interview technique was applied to gather data using validated tools. The tools used in the study were Rosenberg self-esteem scale, Perceived Stress Scale and WHOQOL-BREF scale. Scoring was carried out for self-esteem, perceived stress and WHOQOL-BREF in accordance with the procedures. Data were analyzed using descriptive statistics and inferential statistics (Chi-square, independent t-test and one-way analysis of variance). Results: Among the total participants, 27.2% were 60–64 years old and more than two-thirds (69.9%) were male. The majority of participants were married (65.5%) and cannot read and write (60.7%). Half of the older adults (49.8%) were living with their partners. Self-esteem was high among the age group 70–74 years (24.80 ± 3.01), and psychological stress was high among the age group 60–64 years (17.23 ± 2.93) within the older adults. Furthermore, the mean score for the social relationship domain and physical health domain of health-related quality of life were 12.0 and 11.9, respectively. Comparing the domains of physical health, psychological health and social relationship with age and education level were statistically significant. Conclusion: Self-esteem was lower among older male adults aged 60–64 years and those who attended secondary level education. An increase in participants’ age increases the psychological stress and decreases the psychological domain of health-related quality of life.