This study analysed the determinants of transition in economic growth among rural households and matched it to the economic growth rate to categorise households into being in Inclusive Growth (IG) and Non-Inclusive Growth (NIG) groups in Nigeria. Secondary data from General Household Surveys for 2010, 2013 and 2016 were used. Data were analysed using descriptive statistics, Foster-Greer-Thorbecke (FGT), Probit model and Markov chain. The result shows that mean age of the rural households were 41.8, 43.7, and 46.9 years for 2010, 2013 and 2016 respectively. Majority (65.0%, 65.4% and 65.5%) were male while 64.3%, 63.1% and 63.4% were married in 2010, 2013 and 2016 respectively. Markov probability transition matrix revealed that rural households (29.9%) remained in NIG in both periods 2010–2013 and 2013–2016 while 70.1% of rural households contributed to the economic growth in 2013–2016. However, rural households (46.6%) that are inclusive in period 2010–2013 worsened in the period 2013–2016. In the long run, rural households (40.2%) were non-inclusive while 59.8% were inclusive. Probit results show that household size, education, access to energy, residency in zones (South East and South South) influenced rural households moving into NIG while age, access to health facilities, being married, access to credit, involvement in agriculture and residency in zones (North East and North Central) influenced rural households to be in IG. It was concluded that with equitable resources, rural households have the probability to be inclusive and contributed into economic growth in Nigeria.