As of the census of 2000, there were 5,413 people, 2,541 households, and 1,565 families residing in the town. The population density was 929.5 people per square mile (359.1/km²). There were 3,323 housing units at an average density of 570.6/sq mi (220.4/km²). The racial makeup of the town was 95.14% White, 0.31% African American, 0.48% Native American, 0.78% Asian, 0.06% Pacific Islander, 2.07% from other races, and 1.16% from two or more races. Hispanic or Latino of any race were 5.56% of the population.
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.
The main airport serving Estes Park is Denver International Airport, located 75 miles southeast. Fort Collins-Loveland Municipal Airport is only 38 miles away, but currently only one carrier serves that airport with service to only one destination.