We will increasingly become dependent on automation to support our manufacturing and daily living, and robots are likely to take an important place in this. Unfortunately, currently not all the robots are accessible for all users. This is due to the different characteristics of users, as users with visual, hearing, motor or cognitive disabilities were not considered during the design, imple-mentation or interaction phase, causing accessibility barriers to users who have limitations. This research presents a proposal for accessibility guidelines for human-robot interaction (HRI). The guidelines have been evaluated by seventeen HRI designers and/or developers. A questionnaire of nine five-point Likert Scale questions and 6 open-ended questions was developed to evaluate the proposed guidelines for developers and designers, in terms of four main factors: usability, social acceptance, user experience and social impact. The questions act as indicators for each factor. The majority (15 of 17 participants) agreed that the guidelines are helpful for them to design and imple-ment accessible robot interfaces and applications. Some of them had considered some ad hoc guidelines in their design practice, but none of them showed awareness of or had applied all the proposed guidelines in their design practice, 72% of the proposed guidelines have been applied by less than or equal to 8 participants for each guideline. Moreover, 16 of 17 participants would use the proposed guidelines in their future robot designs or evaluation. The participants recommended the importance of aligning the proposed guidelines with safety requirements, environment of interaction (indoor or outdoor), cost and users' expectations.