Safaricom revises its M-Pesa charges after some time and makes the fees they charge publicly available. To access the M-Pesa charges calculator on mySafaricom app, Launch the app then go to M-Pesa > My Account > Cost Calculator then type the amount you would like to transact.
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M-Pesa Transaction Charges
Here are M-Pesa transaction charges as of January 1st 2021. Note that opening an account, buying airtime, checking your balance and changing PIN is free.
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ATM withdraw charges
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The maximum amount you can transact per day in M-Pesa is Kshs. 300,000 and the maximum amount you can hold in your M-Pesa account is Kshs. 300,000.
To be in a position to use the service conveniently, I personally recommend using MySafaricom app which you can download from Google Play or App Store.