In 1995, he got married to Joy McManigal. As a loving husband and wife, they became parents for four times. Though they were happily married this married life came to an end in divorce. Besides this married life there is no any information about his extra love affairs and girlfriend.
While Esposito was in New York, he got enrolled at Elizabeth Seton College. There he majored in radio and television communications and also earned his degree from there. He has been active as an actor since his childhood days. He made his acting debut in 1966 by playing the role of a slave child on the Broadway Maggie Flynn. In 1979, he made his feature film debut by starring the role of Puerto Rican Teenager in the movie Running. He has also been appearing in several TV series since 1981. His breakthrough role came in 2009 after he began portraying the role of Gustavo "Gus" Fring in the TV series Breaking Bad. He earned the salary of $65,000 per episodes in the TV series and his net worth is said to be around $2 Million.