The successful hydroesterification of 3-allyl-2-hydroxynapthoquinones is presented, providing excellent regioselectivity of the linear and branched esters. The Pd(OAc)2/dppf catalytic system was used to prepare a series of linear naphthoquinone esters with high regioselectivity. A slight modification of the initial conditions afforded branched esters with high regioselectivity using a PdCl2/dppe combination. Control experiments facilitated observation of a correlation between the hydroxy group present on the substrate and the selectivity of the reaction. In addition, a cytotoxic test was conducted on the synthesized esters against six tumor cell lines, which provided valuable information about their biological activity.