Family
- daughter Stella Keitel: Born c. 1986; mother, Lorraine Bracco; Keitel and Bracco were involved in a custody battle from the time they separated c. 1991; in 1999, Bracco was awarded sole custody and Keitel was awarded visitation rights
- son Hudson Karmazin: Born October 2001; mother, Lisa Karmazin
- father Harry Keitel: Polish; ran a luncheonette on Avenue X in Brooklyn with Keitel's mother
- mother Miriam Keitel: Romanian; ran a luncheonette on Avenue X in Brooklyn with Keitel's father
- son Roman Keitel: Born Aug. 17, 2004; mother, Daphna Kastner
Companions
- Embeth Davidtz: no longer together
- Heather Bracken: no longer together
- Lisa Karmazin: identified as the mother of Keitel's son born in October 2001
- Lorraine Bracco: met at a Paris Cafe in 1983; moved in together c. 1984; separated in 1991; she later married actor Edward James Olmos on January 28, 1994
- Toni Welsh: no longer together
