Attention deficit-hyperactivity disorder (ADHD) is a common childhood disorder that can negatively impact parents, especially mothers who spend the most time with the child. This study examined the effect of acceptance and commitment group training on self-esteem and perceived stress in mothers of children with ADHD. In this interventional study, 40 participants were randomly assigned to an intervention or control group (20 in each group). The intervention group received 8 sessions of acceptance and commitment-based training, while the control group received no intervention. Self-esteem and perceived stress were measured before, immediately after, and 3 months’ post-intervention. Data were analyzed using SPSS version 23. Compared to the control group, the intervention group showed statistically significant improvements in perceived stress and self-esteem before and after the intervention, and before and 3 months after the intervention (p < 0.05). The greatest changes were observed 3 months after the intervention (p < 0.05). Acceptance and commitment-based group training can have a positive and lasting effect (at least for three months) on self-esteem and perceived stress in mothers of children with ADHD. The findings could inform the integration of targeted ACT-based group interventions in support services for mothers of children with ADHD, ultimately contributing to improved family outcomes and better management of ADHD symptoms.