Manilva lies at the southwestern edge of Málaga province, where the Costa del Sol meets the border with Cádiz. It is a municipality of three parts: the main town of Manilva, about 2 km inland; the coastal village of Sabinillas (San Luis de Sabinillas); and the small fishing village of Castillo de la Duquesa to the west, with the marina of Puerto de la Duquesa alongside.
The 7.8 km coastline runs from rocky coves to wide sandy beaches. Behind the town, the landscape rises through small hills and limestone ridges toward the Sierra Bermeja, where Pico de los Reales tops out at 1,452 metres. To the east is Estepona with its traditional fishing port, and to the north the spectacular hilltop village of Casares, one of the most photogenic in Andalucía.