Joe Estevez was born in Dayton, Ohio to a Catholic, Galician (Spanish) father, Francisco Estévez (1898–1974), and an Irish mother, Mary Anne (née Phelan) (1903–1951). He is one of ten children—nine boys and one girl.

As a child, he lived in the South Park neighborhood of Dayton. He attended Chaminade-Julienne High School, a Catholic High School located in Dayton. Upon his graduation, he enlisted and served in the United States Navy.

He is the younger brother of actor Martin Sheen and the uncle of Emilio Estevez, Charlie Sheen, Renée Estevez, and Ramon Estevez.