Esopus is located on the west bank of the Hudson River between Kingston and Poughkeepsie. To the north of the hamlet is Ulster Park, to the west are the Marlboro Mountains with the Shaupeneak Ridge Cooperative Recreation Area, and to the south is the hamlet of West Park. Esopus is a basic hamlet and only has 5 streets: 9W runs north-south through the hamlet, Main Street, which used to be the original Broadway/9W until a new section of 9W was built splitting off from Main Street, later to meet again about 1/2 mile down the road, Black Creek Road, Parker Avenue, which connects 9W to Main Street, and Old Post Road, which heads west from Esopus across the Marlboro Mountains. Black Creek empties into the Hudson River in Esopus.