Estep is a surname. Notable people with the surname include:
Harry Allison Estep (1884–1968), American politician Maggie Estep (1963–2014), American poet and writer Mary Jo Estep (1909/10–1992), Shoshone child survivor of the Battle of Kelley Creek Preston Estep (born 1960), American biologist William Roscoe Estep (1920–2000), American Baptist historian and professor