The purpose of this study is to develop a Korean Parenting Anxiety Scale for the parents of Elementary School Children(KPAS-ES), and to verify reliability, validity, and empirical usefulness. Through preliminary research for item development, the composition concept of parenting anxiety and preliminary 88 questions were prepared, and the validity of the contents was verified through Delphi survey and a preliminary scale of a total of 50 questions was formed. In Study 1, a preliminary survey was conducted on 264 parents with children aged 6 to 12 years old, and exploratory factor analysis was conducted by collecting data. As a result, factor analysis was performed, and a 7 factor structure, 31 items were confirmed. In Study 2, a confirmative factor analysis on 483 parents showed a good fit. The stability and suitability of the factor structure for the Korean parenting anxiety scale was confirmed through looking into construct validity, convergent validity, and discriminant validity. Finally, through verifying the structural equation model, it was confirmed that parenting anxiety is completely mediated in the relationship between parental role stress and parental burnout, and parenting anxiety is partially mediated in the relationship between parental life stress and parental burnout. This scale can be used in parental education and parenting policies, and is expected to be highly utilized as useful data for follow-up studies on parenting and child development. The significance and limitations of the study were discussed.