Despite evidence globally of the heavy HIV burden among sex workers (SWs), as well as other poor health outcomes, including violence, SWs are often excluded from accessing voluntary, confidential and non-coercive health services, including HIV prevention, treatment, care and support. This study therefore assessed the prevalence and associations with regular HIV testing among street- and off-street sex workers (SWs) in Vancouver, Canada. Cross-sectional baseline data were used from a longitudinal cohort known as ‘An Evaluation of Sex Worker's Health Access’ (‘AESHA’) (January 2010-July 2012). This cohort included youth and adult sex workers (14 years+). We used multivariable logistic regression to assess the relationship between explanatory variables and having a recent HIV test (in the last year). Of the 435 sero-negative SWs included, 67.1% reported having a recent HIV test. In multivariable logistic regression analysis, having a recent HIV test remained significantly independently associated with elevated odds of inconsistent condom use with clients (AOR: 2.59, 95%CIs: 1.17-5.78), injecting drugs (AOR: 2.33, 95%CIs: 1.17-4.18) and contact with a mobile HIV prevention program (AOR: 1.76, 95%CIs: 1.09-2.84) within the last six months. Reduced odds of having a recent HIV test was also significantly associated with being a migrant/new immigrant to Canada (AOR: 0.33, 95%CIs: 0.19-0.56) and having a language barrier to health care access (AOR: 0.26, 95%CIs: 0.09-0.73). Our results highlight successes of reaching SWs at high risk for HIV through drug and sexual pathways. To maximize the effectiveness of including HIV testing as part of comprehensive HIV prevention and care to SWs, increased mobile outreach and safer-environment interventions that facilitate access to voluntary, confidential and non-coercive HIV testing remain a critical priority, in addition to culturally safe services with language support.