Objective: To investigate the psychometric properties of the balance self-efficacy (BSE) scale in people with stroke. Methods: This is a cross-sectional study held in a university-based rehabilitation center. Sixty- three people with stroke and 30 healthy older adults were included from the community dwelling. The people with stroke underwent the following assessments in a random order: the BSE, Fugl-Meyer Assessment of Lower Extremity (FMA-LE), muscle strength of plantar flexors and dorsiflexors, Montreal Cognitive Assessment, Berg Balance Scale, Limit of Stability (LOS), Foot and Ankle Ability Measure (FAAM), 12-Item Short Form Survey (SF-12) version 2, and Oxford Participation and Activities Questionnaire (Ox-PAQ). The healthy older adults were assessed with BSE. Results: The BSE scale demonstrated good test-retest reliability (intraclass correlation coefficient= 0.796) with minimal detectable change at a 95% confidence interval of 433.74 and cut-off score of 1,225, which best differentiated between people with stroke and healthy older adults. The BSE score was significantly correlated with the FMA-LE score, muscle strength of the affected side ankle dorsiflexor and plantar flexor, LOS parameter, FAAM, SF- 12, and Ox-PAQ scores. Conclusion The BSE scale is a reliable clinical tool with good test-retest reliability. The BSE scores were significantly correlated with other outcome measures that assess motor functions, balance, and quality of life. It is a simple and easy-to-administer outcome measure for assessing BSE in people with stroke.