The historical centre is a traditional fishing town situated along La Rada beach, with its seaside promenade decorated with flower gardens and tall palm trees. The old town consists of Andalusian whitewashed houses and boasts several landmarks, such as a ruined castle, a Roman watchtower and the Plaza de Las Flores, a beautiful square with a central fountain that is lined with luxury hotels, cafés and restaurants. In the past few years, the major roads in the city centre have become pedestrian streets, making it an ideal place for sightseeing or dining out.

Estepona has a large marina and several neighbourhoods surrounding the historic centre. The most important are: Playa del Angel, on the eastern side of Estepona, with its beautiful beach and a large Carrefour commercial centre; and Seghers, which is the most sought-after neighbourhood in terms of independent villas and luxury residential complexes, located beside El Cristo beach.

There are several new, modern developments in central Estepona, primarily in the area of Las Mesas, which overlooks the marina. Here we can find modern apartments with spacious terraces and fantastic panoramic views of the sea. Another noteworthy area undergoing a process of regeneration is near the new athletic stadium on the northern edge of the city, where there are several residential buildings under construction along the new ring road, most of which cater for both local residents and international buyers.