He belonged to a family of artists, his father Francisco Esteve was also a sculptor and his son Rafael Esteve y Vilella excelled as an engraver.
He studied at the Academy of Fine Arts of San Carlos (Valencia) where he was a disciple of Ignacio Vergara. In 1772 he was appointed academician of merit, in 1774 honorary director of sculpture and in 1781 general director. In 1790 he was appointed honorary chamber sculptor by King Charles IV of Spain.