Malaysia competed at the 2004 Summer Paralympics in Athens, Greece. The team included 19 athletes, 15 men and 4 women, but won no medals. These were the first games where the country sent athletes to compete in sporting events other than athletics, powerlifting, and swimming. As recently as the 2024 Summer Paralympics, this was the only time that the Malaysian contingent sent athletes to compete in judo.
|- |align=left|Muhamad Salam Sidik |rowspan="2" align=left|Men's individual W2 |618 |6 |<br />W 153-145 |<br />W 157-149 |<br />L 100-100* |colspan=3|Did not advance |- |align=left|Zulkifli Mat Zin |556 |28 |<br />L 137-159 |colspan=5|Did not advance