Despite increasing international attention on parent–adolescent relationships (PAR), research remains limited in marginalised communities, particularly within the South African context. The objective of this study was to explore the nature of closeness in PAR in a semi-rural, low-income Coloured community in the Western Cape Province of South Africa. This study was exploratory in nature and utilised a cross-sectional research design. Fifty families (67 parents and 50 adolescents) participated in this research study. Quantitative instruments included the Inventory of Parent and Peer Attachment Mother and Father Versions (IPPA), the Revised Inventory of Parent Attachment (RIPA), and the Relationship Closeness Inventory (RCI), adapted and translated into Afrikaans to suit the cultural and linguistic context. Statistical analyses involved descriptive statistics, reliability assessments via Cronbach’s alpha, and two-way ANOVA for group comparisons. Findings indicated that most female participants reported close mother-daughter relationships, while male participants reported relatively close father-son relationships. Mothers generally spent more time with adolescents, while father-daughter relationships were perceived as less close. Although fathers were more engaged than documented in earlier South African studies, maternal bonds remained stronger. This study supports the relevance of attachment theory (Ainsworth, 1989; Bowlby, 1969) in understanding PAR. These findings contribute to a deeper understanding of how parent-adolescent closeness is experienced and interpreted in non-urban, under-researched populations.