Audrey was born and raised in the U.S./Mexico border city of Laredo, Texas. She graduated from Tisch School of the Arts at New York University, spending all four years at the Experimental Theatre Wing.
On stage, Audrey co-starred in Rattlestick Playwrights Theater production of "Underneath My Bed." Other theater credits include "Post No Bills," "The Leak," "One Night in the Valley," "Tetrology" and "Sangre."
Audrey has appeared on a variety of television projects, including "Power" and "Black Box." Other TV credits include "Blue Bloods," "The Following," "The Americans," "Golden Boy" and "Madam Secretary." Esparza can be seen recurring on the upcoming series "Public Morals."
- She has a dog named Polito.
- She can speak Spanish and English.
- She originally auditioned for the role of Patterson, but Martin Gero choose her for Zapata instead.