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Along with rapid urbanization and economic development, urban household consumption has experienced a remarkable change, leading to a corresponding increase in direct and indirect carbon emissions. A systematic accounting of household carbon footprints (HCFs) in Beijing during 2002, 2007, and 2012 using a nested input-output model is presented in this paper. The results indicate that the per capita carbon footprint from urban household consumption in Beijing increased from 3054.05 kg in 2002–4611.12 kg in 2012, of which the indirect emissions were the majority. In terms of consumption structure, food, housing, transportation and communication, and education and entertainment were the four dominant sources contributing to the indirect urban HCFs in Beijing. With respect to the source, local Beijing was the largest contributor for itself materials and service provisions in 2002 and 2007, while the domestic source became the largest contributor in 2012, accounting for 55.08% of the total indirect household carbon emissions. Moreover, we also discovered that families with high income level had much higher HCFs compared to those with low income level. Given these considerations, transitions towards low-carbon household consumption are needed so as to provide equality and sustainability. • Nested input-output model is adopted to calculate household carbon footprints (HCFs). • Per capita HCFs in Beijing increased from 3054.05 kg in 2002–4611.12 kg in 2012. • Indirect emission constituted the majority of HCFs, accounting for 63.69% in 2012. • Income level has great impacts on HCFs due to energy intensive consumption pattern. [ABSTRACT FROM AUTHOR]