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Joe Estevez was born in Dayton, Ohio to a Catholic, Galician (Spanish) father, Francisco Estévez (1898–1974), and an Irish mother, Mary Anne (née Phelan) (1903–1951). He is one of ten children—nine boys and one girl. As a child, he lived in the South Park neighborhood of Dayton. He attended Chaminade-Julienne High School, a Catholic High School located in Dayton. Upon his graduation, he enlisted and served in the United States Navy. He is the younger brother of actor Martin Sheen and the uncle of Emilio Estevez, Charlie Sheen, Renée Estevez, and Ramon Estevez.

The 13th Annual On Cinema Oscar Special
as Joe Estevez

The Hail Mary
as Irish Bob

Donald Farmer's Wild Ride

Life in Reverse
as Emmanuelle

The 12th Annual On Cinema Oscar Special
as Joe Estevez

Tim and Toni's Guide To Couple's Massage
as Narrator (voice)

The 11th Annual On Cinema Oscar Special LIVE from AmatoCon
as Joe Estevez

23 Seconds to Eternity
as Narrator

The 10th Annual On Cinema Oscar Special
as Joe Estevez

Very Frightening Tales
as Bill

Pandemic Undead
as Anchor Man
Fugued Up!
as Dad

Eyes Upon Waking
as Dr. Ferguson

Reed's Point
as Steve

The Wendy Kerby Valentine's Day Special
as Joe Estevez

You're Melting!
as Dr. Richard Smothers

Niemand
as Eutic

Abaddon
as Atticus

The Dark Valley
as Narrator

Senior Moment
as Danny

The 8th Annual Live 'On Cinema' Oscar Special
as Joe Estevez

Alien Danger! With Raven Van Slender
as Not The President

Magic Max
as Lyle Hart
Mark & Clark World Adventurers
as Dr. Worthy A. Pennyworth

My Brothers' Crossing
as Bobby Clark

Banned, Exploited & Blacklisted: The Underground Work of Controversial Filmmaker Shane Ryan
as (segment "The Making of Samurai Cop 2")

The Animated Adventures of Jack Decker
as President Davidson (voice)

A Walk with Grace
as Dale

Mister America
as Joe Estevez (archive footage)

The Redeemed
as Whitey

Kayla
as Thomas

High on the Hog
as Agent Dick

Heaven's War

Syndicate Smasher
as Det James Beattie

Deadtime Tales
as Art (segment "The Antique") / Investor (segment "Million Dollar Death") (archive footage)

Urban Myths
as Dr. Anderson

The Mitchell Tapes
as Sheriff Logan

Fangs Vs Spurs

Wrecked
as Jerry

Chasing Gold
as Larry

Decker Vs. Dracula: Behind The Truth
as Joe Estevez

Samurai Cop 2: Deadly Vengeance
as Captain Harmon

Bikini Inception

Rice Girl
as Alan

Decker
as President Davidson / President Davidson Jr.

The Caretakers
as Parker

A Cold Day in Hell
as God

Eagleheart: Paradise Rising
as Joe Estevez

Disaster Wars: Earthquake vs. Tsunami
as Colonel Brayman

Doonby
as Cyrus Reaper

The Dead Reborn
as Stan the Investor

Turning Point
as The Boss

Axe Giant: The Wrath of Paul Bunyan
as Meeks

The Appearing
as Mental Man

On Cinema
as President Davidson

The Haunting of Pearson Place
as Bob Osberg

Plastic Films
as Chopra
The Perfect Candidate
as Joe Estevez

Gunfight at Yuma
as Reverend Hearting

Horrorween
as Neighbor