It lies in the western part of the Nitra Uplands at the southeastern foot of Považský Inovec, northeast of the district town of Hlohovec. Horné Otrokovce is a continuous road, the main route consists of state roads III. Class no. 5142 Horné Otrokovce - Dolné Otrokovce and no. 5075 Horné Otrokovce - Radošina, which are connected in the village. The village is thus connected with the district town Hlohovec about 14 km and the spa town Piešťany, which is about 19 km away.