Numerous studies addressed the impacts of social development and economic growth on the environment. This paper presents a study about the inclusive impact of social and economic factors on the environment by analyzing the association between carbon dioxide (CO2) emissions and two socioeconomic indicators, namely, Human Development Index (HDI) and Legatum Prosperity Index (LPI), under the Environmental Kuznets Curve (EKC) framework. To this end, we developed a two-stage methodology. At first, a multivariate model was constructed that accurately explains CO2 emissions by selecting the appropriate set of control variables based on model quality statistics. The control variables include GDP per capita, urbanization, fossil fuel consumption, and trade openness. Then, quantile regression was used to empirically analyze the inclusive relationship between CO2 emissions and the socioeconomic indicators, which revealed many interesting results. First, decreasing CO2 emissions was coupled with inclusive socioeconomic development. Both LPI and HDI had a negative marginal relationship with CO2 emissions at quantiles from 0.2 to 1. Second, the EKC hypothesis was valid for G20 countries during the study period with an inflection point around quantile 0.15. Third, the fossil fuel consumption had a significant positive relation with CO2 emissions, whereas urbanization and trade openness had a negative relation during the study period. Finally, this study empirically indicates that effective policies and policy coordination on broad social, living, and economic dimensions can lead to reductions in CO2 emissions while preserving inclusive growth.