Part of the town comprises the census-designated place of Essex.
As of the census of 2000, there were 3,267 people, 1,313 households, and 887 families residing in the town. The population density was 230.7 people per square mile (89.1/km²). There were 1,446 housing units at an average density of 39.4 persons/km² (102.1 persons/sq mi). The racial makeup of the town was 98.50% White, 0.15% African American, 0.12% Native American, 0.43% Asian, 0.03% Pacific Islander, 0.21% from other races, and 0.55% from two or more races. Hispanic or Latino of any race were 0.92% of the population.
There were 1,313 households out of which 31.5% had children under the age of 18 living with them, 56.1% were married couples living together, 7.8% have a woman whose husband does not live with her, and 32.4% were non-families. 26.7% of all households were made up of individuals and 9.4% had someone living alone who was 65 years of age or older. The average household size was 2.49 and the average family size was 3.03.
In the town the population was spread out with 24.2% under the age of 18, 5.3% from 18 to 24, 30.1% from 25 to 44, 26.9% from 45 to 64, and 13.6% who were 65 years of age or older. The median age was 40 years. For every 100 females there were 96.7 males. For every 100 females age 18 and over, there were 97.4 males.
The median income for a household in the town was $59,554, and the median income for a family was $70,152. Males had a median income of $48,036 versus $32,000 for females. The per capita income for the town was $31,613. 6.6% of the population and 4.3% of families were below the poverty line. Out of the total people living in poverty, 6.1% are under the age of 18 and 10.8% are 65 or older.
Though not accessible directly by a major highway, Essex can be reached by two state highways - from the south (Beverly) and west (Hamilton) via Route 22, and from the north (Ipswich) and east (Gloucester) via Route 133. Access to major highway Route 128 can be found within two miles of the town limits of both Manchester-by-the-Sea and Gloucester.
The Ipswich Essex Explorer bus provides weekend service during the summer connecting with the MBTA Commuter Rail at Ipswich, as well as providing service to Crane Beach and other nearby attractions.