Persons with Disabilities have the right to access to decent and affordable housing facilities. The society has looked upon this one of the critical minority group in the world. Much has been done in terms of accessibility to education, health care and rights to participate in electoral processes etc. However there is scanty information on how these people access decent and affordable housing in Urban informal and low-income settlements. The study established that Persons with Disabilities face numerous challenges of accessing decent housing in the informal and low-income settlements in urban setup in Kenya. The residence for Persons with Disabilities was found to lack basic infrastructural facilities such as access roads and path ways, sanitation such as water bone toilets and bath rooms. The work place for Persons with Disabilities was filthy and lack support facilities like ramps etc. The organizations and governments agencies charged with responsibility of taking care of the Rights of PWDs were found to have neglected their duties. There is need to have a paradigm shift in handling the concerns of housing to Persons with Disabilities in informal/low-income Urban setup.