Programmes focused on buffer zones (BZs) and park revenue-sharing (PRS) are aimed at sharing protected area (PA) benefits with local communities to meet their development needs and, in turn, improve the PA–people relationship. However, whether and how these programmes improve public attitudes towards PAs is little understood. We assessed how residents perceive the benefit and burdens of Nepal’s BZ programme, which shares up to 50% of PA revenue with communities, and how this process relates to their perceptions of change in the PA–people relationship since the BZ programme was implemented. Survey results from 2122 households in the BZs of six PAs showed that residents’ perceptions of PA–people relationships had improved since the BZ programme’s implementation. Furthermore, the perceived trend in the PA–people relationship was positively related to the perception of benefits and satisfaction with coordination between the PA and local government; it was negatively related to perceived burdens of BZ-related laws in rural development, history of damage/loss from wildlife and misunderstandings of the purpose behind BZ funds being given to local communities. These findings provide valuable insights for PA managers in Nepal and worldwide in designing new or improving existing mechanisms of benefit-sharing with local people and to improve PA–people relationships.