Estes Park sits at an elevation of 7,522 feet on the front range of the Rocky Mountains at the eastern entrance of the Rocky Mountain National Park. Its north, south and east extremities border the Roosevelt National Forest. Lumpy Ridge lies immediately north of Estes Park.According to the United States Census Bureau, the town has a total area of 5.9 square miles, of which, 5.8 square miles of it is land and 0.1 square miles of it (0.85%) is water.
There were 2,541 households out of which 20.5% had children under the age of 18 living with them, 52.3% were married couples living together, 6.6% had a female householder with no husband present, and 38.4% were non-families. 31.0% of all households were made up of individuals and 9.7% had someone living alone who was 65 years of age or older. The average household size was 2.11 and the average family size was 2.61.
In the town the population was spread out with 17.6% under the age of 18, 5.8% from 18 to 24, 26.6% from 25 to 44, 29.4% from 45 to 64, and 20.7% who were 65 years of age or older. The median age was 45 years. For every 100 females there were 92.2 males. For every 100 females age 18 and over, there were 90.7 males.
The median income for a household in the town was $43,262, and the median income for a family was $55,667. Males had a median income of $31,573 versus $20,767 for females. The per capita income for the town was $30,499. About 3.2% of families and 4.5% of the population were below the poverty line, including 4.6% of those under age 18 and 0.8% of those age 65 or over.