This article identifies the barriers that people with disabilities face in their daily lives and in their surroundings. Using data from the 2017 National Discrimination Survey, we performed a multinomial logit regression model. Our results reveal that people in situations of disability are less likely to access social services and educational opportunities, and to participate fully in work; therefore, they are more prone to earn a lower income to cover their basic needs. One of the main barriers to these individuals is the design of the urban infrastructure, such as streets and sidewalks, and the lack of adequate urban transport, which facilitates or deters transportation. Similarly, our study indicates that this vulnerable group has difficulties covering expenses related to care, therapies, and treatments, so performing basic activities such as bathing, dressing, or eating is difficult for them. In addition, the findings indicate that they perceive economic insecurity and discrimination. For this reason, it is necessary to generate inclusive policies that improve significantly the well-being of people with disabilities.