In 1949 at the age of four he made his debut as a clown with his father, in 1964 he moved to Madrid where he did stage plays and in 1973 he made his debut on films. He was married to María José Egea, and she died on 13 December 2003 from a cancer and was cremated at cementerio de la Almudena in Madrid. Prior to their divorce, they had had at least one child.

Esteso made a comic duo with Andrés Pajares and they appeared in nine comedy films between 1979 and 1983 such as Los energéticos, Los bingueros, Yo hice a Roque III, Los chulos, Los liantes, Padre no hay más que dos, Todos al suelo, Agítese antes de usarla and La lola nos lleva al huerto, some of them starring Antonio Ozores, Adriana Vega, Mirta Miller, Paloma Hurtado, Ángel de Andrés.