The use of antibiotic pharmaceuticals in chicken husbandry has risen steadily over time. Antibiotic residues in chicken meat poses risks to human health in addition to their contribution to the advancement of antibiotic resistance. Despite the increased use of antibiotics in chicken farming in Kenya, assessments of the residues and human exposure have not been conducted. In this study, the sulfonamides (SAs); sulfapyridine (SPD), sulfadiazine (SDZ) and sulfamethazine (SMZ) and the β-lactams (βLs); ampicillin (AMP), penicillin G (PEG) and amoxicillin (AMX) were determined in three chicken meat types; ex-layers, broilers, and indigenous meat marketed in Nairobi City, Kenya. Residual SAs ranged from 0.1 to 154.4 μg kg−1, with SPD recording the highest concentration in ex-layers’ chicken meat samples. A range of 19.7 to 309.0 μg kg−1of BLs was found, where the highest amount represented AMX in ex-layers. Mean AMX contents in all chicken types, and AMP in broilers were above the Maximum Residue Limits (MRLs). For SAs, only SPD mean content was above MRL in ex-layers. Human health risks from exposure to antibiotic-contaminated chicken meat was evaluated using % ADI. All tested βLs were of no risk (<1% ADI) to human health. SPD and SDZ posed considerable risk (1–5% ADI) in some chicken meat, whereas SPD in ex-layers’ chicken meat posed distinctive risk (>5% ADI) to children. Considering the co-occurrence of different types of antibiotics in same samples, obtained MRLs and % ADI (for some of the antibiotics) are indicative of potential human health risks. Information is valuable in provoking response from concerned agencies and fostering activities that advocate for judicious use of antibiotics.