Rationale: Informal waste scavenging is a critical livelihood strategy in many Nigerian urban settings, yet it exposes workers to occupational hazards and psychosocial stress. Limited data exist on how socio-demographic factors and work duration influence perceived stress and psychosocial challenges among waste scavengers. Objectives: To examine the socio-demographic characteristics of waste scavengers, assess associations between duration of engagement and perceived stress, and identify primary psychosocial challenges related to scavenging in Ilorin and Oshogbo, Nigeria. Methods: A cross-sectional survey was conducted among 155 waste scavengers recruited from Ilorin and Oshogbo. Data on age, gender, education, marital status, duration of engagement, perceived stress levels, and primary psychosocial challenges were collected using structured questionnaires. Associations were assessed using Pearson chi-square tests, with consideration of expected cell counts. Descriptive statistics summarized socio-demographics and psychosocial profiles. Results: The workforce was predominantly young (18-27 years, 27.1%), male (52.3%), and had primary or secondary education (55.5%). Most scavengers had engaged in waste collection for less than three years (69.7%). Perceived stress varied with duration but was not statistically significant (χ²(12) = 14.680, p = 0.259), though higher proportions of extreme stress were observed among longer-duration workers. Feelings of shame or embarrassment (38.8%) and anxiety about safety (31.6%) were the most frequently reported psychosocial challenges, consistently observed across stress categories, with no statistically significant association (χ²(20) = 16.666, p = 0.675). Conclusion: Waste scavengers experience persistent psychosocial challenges regardless of duration, highlighting stigma and occupational hazards as key stressors. Recommendation: Implement psychosocial support programs, cooperative frameworks, and safety interventions to mitigate occupational stress and improve well-being. Thus, addressing psychosocial and occupational risks among informal waste workers is essential for reducing mental health burden and enhancing safety in urban waste management.