Background: Previous studies have found that children of mothers with adverse childhood experiences (ACEs) are more likely to have adverse mental health outcomes. However, little is known about the role of other cognitive abilities, such as resilience and self-esteem, in how children deal with stressful situations. Objective: To examine the association between maternal ACEs and resilience and self-esteem in children. Participants and setting: The data was collected as part of the population-based Kochi Child Health Impact of Living Difficulty (K-CHILD) study in 2016. Participants included 2759 in first grade, 2878 in fifth grade, 3143 in eighth grade, and 3611 children in 11th grade living in Kochi Prefecture, Japan (N = 12,391). Methods: Maternal ACEs and covariates were reported by mothers. Mothers provided information regarding their children's resilience for children in the first, fifth, and eighth grades. Children in the fifth, eighth, and 11th grades reported their own self-esteem. Results: Children of mothers with a larger number of ACEs had lower levels of resilience (p for trend (i.e., linear associations) < 0.001) as well as lower levels of self-esteem (p for trend < 0.001), adjusting for potential confounding variables. These associations became nonsignificant after adjusting for potential mediators, and the relationship was mediated by variables such as maternal psychological distress, current socioeconomic status, and parenting behaviors. Conclusions: There was a significant dose-response relationship between the number of maternal ACEs and children's resilience and self-esteem, and this relationship may be mediated by maternal psychological distress, current socioeconomic status, and positive parenting behaviors. Further interventional studies that break the link between maternal ACEs and resilience and self-esteem should be conducted.