Despite the increase in the number of health services provided and Kenya’s commitment to equal access to quality healthcare for all by the year 2030, the physically challenged persons still find difficulty in accessing health services for reasons attributable to health care related factors. This study targeted the physically challenged persons in Gem Sub-county, Kenya. Stratified and systematic random sampling was used to select 108 people with physical disability. Data was collected using semi-structured questionnaire and analyzed using SPSS, version 23. Descriptive data were summarized in tables and charts while x2 test was used to detect the relationship between relevant variables (α= 0.05). This study confirmed that environmental accessibility of the hospitals, their location and infrastructure leading to the hospitals greatly influence ability of people with physical disabilities to access quality healthcare (p<0.05). All the healthcare facilities were not adequately equipped to handle people with disabilities. The healthcare system-related factors had influence negatively on access of quality care to the physically handicapped persons in Gem sub County.