Background: Globally, people with disabilities experience exclusion from health, education, employment, and other aspects of daily life. Evidence on lived experience across key life areas (such as education, health, and employment) is necessary to promote disability-inclusive policy and practice, but there is often limited evidence from sub-Saharan Africa and there is no current synthesis in Zambia. Objectives: This scoping review aimed to synthesise evidence relevant to the lived experience of people with disabilities in Zambia across key life areas, in order to support national disability policy and practice. Method: MEDLINE, Embase, Web of Science, CINAHL, PsycInfo, Global Health, Africa-Wide Information and grey literature sources were searched from database inception until June 2023, although after the database search, we included only articles published from 2007, after adoption of the United Nations Convention on the Rights of Persons with Disabilities. Articles of any study design that were relevant to disability in Zambia were included, although prevalence studies were excluded to keep the focus on lived experience. Search results were independently screened by two reviewers, first by title/abstract, then by full text. Study characteristics and key findings were extracted, with findings narratively synthesised across key topic areas, such as health, education, and family support. Results: From 10,327 search results, 122 articles were included. Over a third of included articles focused on education for children with disabilities (n = 41, 34%) and the majority were conducted in Lusaka Province (n = 73, 60%). The included research demonstrated a number of challenges experienced by people with disabilities in Zambia that impinge on their human rights, including inaccessible environments, stigma and discrimination, and limited support. Evidence is relatively limited in some key areas, including healthcare and employment, and there is need for up-to-date research. Conclusions: People with disabilities in Zambia experience daily challenges. There is need for action to improve disability inclusion in Zambia in line with the United Nations Convention on the Rights of Persons with Disabilities.