The complexity experienced in early life can affect trait development of individuals, including sociability and fearfulness. The modern dairy calf’s rearing environment often lacks environmental and social complexity. This study examined the effects of early-life, non-maternal adult contact and access to a physically complex environment on the responses of dairy heifers to several stressors, including restraint, social isolation, and novelty at 18 months of age. From the age of 2–13 weeks, 60 dairy heifers (Bos taurus) were reared according to one of three treatments applied to 20 calves each: (1) Hand-reared at pasture in groups of ten, with three unrelated dry cows (+S); (2) Hand-reared at pasture in groups of ten (–S); or (3) Hand-reared in sheds in groups of 10–12 as a commercial control (CC). At 13 weeks, all treatment groups were mixed and managed at pasture as a single herd. At 18 months, the responses of 50 heifers to restraint in a crush, social isolation and a novel object were observed (+S = 16, –S = 17, CC = 17). Treatment did not influence responses to restraint or social isolation, but influenced some indicators of fearfulness during exposure to a novel object. Six +S heifers interacted with the novel object compared to 0 –S and one CC, and CC heifers spent around 50% more time in vigilance than +S or –S heifers. Dairy heifers provided with early-life social enrichment in the form of non-maternal adult contact may have reduced fear of novelty. The implications for lifelong ability to adapt to novel situations, such as entry into the milking herd, should be assessed.