There was a 25% increase in the number of people supported by Barnardos last year.
The charity worked with 26,009 children and adults impacted by adversity and childhood trauma in 2023.
According to its latest annual report, over 2,011 children attending services are on waiting lists for developmental and psychological assessments.
While this is a decrease from 2,374 individual referrals pending or waiting by the end of 2022, the charity has expressed concern.
More than half of those on the list are waiting for longer than three months for services, and more than 600 are waiting longer than six months.
It means that some children are moving onto primary school without the supports they need, with some not being able to access alternative educational options as they do not have an appropriate diagnosis, according to the report.
The children's charity provides trauma informed evidence-based services for children, parents, carers and individuals in their homes, schools or at its 56 service locations.
Adverse childhood experiences dealt with by services included parental separation and conflict; emotional and behavioural issues; unsuitable housing; parental mental health; bereavement; poverty and enforced deprivation; addiction; domestic violence and abuse and delay in receiving vital services.
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Barnardos has said intensive family support services are required to reduce the harm and trauma to children exposed to these issues.
Due to the increased demand for services, the charity recorded an overall deficit of €700,000 in 2023 and has said that it needs to raise €10m this year to meet the growing demand.
Speaking on RTÉ's Morning Ireland programme, Barnardos CEO Suzanne Connolly said that the new government needed to invest in the community and voluntary sector, as well as introducing a family homes strategy.
"We are working at the hard end in terms of risks to children.
"Parents are coming to us worried about their children's emotional health, their children are anxious and withdrawn.
"They're worried about the behaviour, and they're worried about themselves and the stress they're under. It's been exasperated by the cost of living, by the housing crisis, and just the daily grind, particularly when you're worried about your own mental health, and some of our parents would be in addiction, some are living with domestic violence," she said.
She added that some families are having to wait over six months for help at present, with over 50% of referrals for Barnardos coming from Tusla.
The report also notes that there was a significant rise in the number of children who took part in Barnardos' online safety programme which was conducted in partnership with Google.
Some 37,405 children and 837 parents availed of the programme - an increase of 37% on 2022.
