Pilocarpine is used topically in the treatment of glaucoma. Various studies were performed to improve the bioavailability and prolong the residence time of drugs in ocular drug delivery. Drug loaded polymeric and lipid nanoparticles offer several favourable biological properties, such as biodegradability, nontoxicity, biocompatibility and mucoadhesiveness. Therefore, preparing positively-charged pilocarpine HCl-loaded polymeric and lipid nanoparticles was the purpose of this study. Nanoparticles were prepared by quasi-emulsion solvent evaporation technique. The non-biodegradable positively-charged polymer Eudragit (R) RS 100 and semi-solid lipid excipient Gelucire (R) 44/14 were used as a vehicle, the cationic lipid octadecylamine was used as a cationic agent. The formulations were evaluated in terms of particle size, size distribution, zeta potential measurement, thermal behavior (Differential Scanning Calorimetry DSC), entrapment efficacy and pH. Characterizations of nanoparticles were analyzed during the storage period of 6 months for stability tests. Polymeric and lipid nanoparticles could be prepared successfully promising their use for ophthalmic delivery.