Parenting styles have been cited to have brought conflict between young people and their parents on values or ethical principles, and morality or religion. This is an element which is present in almost all cultures. Therefore, parenting style may have an influence on adolescent self-esteem, autonomy, independence and openness. This study focused on the influence of parenting styles on adolescent autonomy and selfesteem among students in secondary schools in Wareng district, in Uasin Gishu county – Kenya. It views family parenting styles as the main precursors towards adolescents‟ decision making, self-reliance and conformity. The objective of the study was to establish the relationship between parenting styles on adolescent autonomy and selfesteem. It targeted a population of 23027 adolescents. A sample size of 394 was drawn from 10 secondary schools through stratified random sampling. The researcher employed causal-comparative research design. This research was based on Carl Rogers‟ Self Theory and Adult Attachment Theory by Bowlby, where both theories are used to explain autonomy and self-esteem development. A self-administered questionnaire was used, examining different parenting styles and aspects of autonomy, scored on a five-point Likert scale and a self esteem questionnaire, scored on a threepoint scale. To ensure the validity of the research instruments, the researcher used expert judgment. On obtaining complete data, it was organized, edited, tabulated and coded to facilitate effective analysis. Hypotheses were tested at 5% significance level. Data analysis was done using Statistical Packages for Social Sciences (SPSS), where both descriptive and interferential statistics were used. The findings revealed that, there was a significant positive relationship between authoritative parenting style and adolescent autonomy and self-esteem, while authoritarian parenting showed no significant relationship with adolescent autonomy. Further, the findings revealed that permissive parenting style does not yield autonomous adolescents, while uninvolved parenting has an influence on adolescent autonomy. However, the study generated information on parenting styles, self-esteem and autonomy related aspects, and these might be of value to school stake holders, more so the parents who have a direct influence on adolescent autonomy.