Parental consent for adolescent human papillomavirus (HPV) vaccine uptake is important; however, refusal is prevalent. Therefore, this study aimed to understand factors associated with parental consent for their adolescent daughter’s HPV vaccination. A cross-sectional study was conducted in Lusaka, Zambia, between September and October 2021. We recruited parents from different social settings. The means and standard deviations or median and interquartile ranges were used as appropriate to summarise continuous variables. Simple and multiple logistic regression models were fitted with robust estimation of standard errors. The odds ratios are presented with 95% CI. Mediation analysis was conducted using a generalised structural equation model. The study enrolled 400 parents, mean age 45.7 years [95% CI, 44.3–47.1]. Two hundred and fifteen (53.8%) parents reported consenting to their daughters’ HPV vaccination, and their daughters received it. None of the health belief model (HBM) construct scores showed an independent association with parental consent. Higher, compared to lower wealth index (AOR; 2.32, 95% CI: 1.29–4.16), knowing someone with genital warts (AOR = 2.23, 95 CI: 1.04–4.76), cervical cancer screening uptake (AOR = 1.93, 95% CI: 1.03–3.62) were associated with increased odds of parental consent. This study highlights factors influencing parental consent for their daughters’ HPV vaccination. Ongoing sensitisation programs are important to improve their decision-making.