In Brené Brown's book, The Gifts of Imperfection, she defines shame as, '...the intensely painful feeling or experience of feeling that we are flawed and therefore unworthy of love, belonging, and connection.' 

Self-worth is innate. We are all good enough and worthy of love and belonging from others no matter what. Self-esteem is how confident we are in our own worth and can, therefore, be more fragile and fluctuate. A high self-esteem arises from self-acceptance (fully embracing who you are without criticism) and self-compassion. A low self-esteem arises from self-judgement and self-comparison.