Edwards' younger siblings included sisters Anna, the late Loucye, and Gwen, as well as brothers Fuller, George, Berry and Robert, who was the youngest of the family.

From a previous relationship, she has a son by Robert Theron Bullock named Robert Berry Bullock, and through him has three granddaughters named Robin, Elesha and Gwen and grandson Alejandro Quinn, a Major in the United States Marine Corps.

Her younger brother Berry reportedly asked for an $800 loan to help start Motown Records in 1959.

After Motown became established, Edwards took an active role in management and booking tours, and founded the legendary Motortown Revue in the 1962.

Esther died surrounded by family and friends, following a long illness, at her Jefferson Towers home in Detroit on August 24, 2011.