Children are at lower risk of developing severe COVID-19, yet the underlying immune mechanisms are understudied. While children’s innate immunity can drive rapid resolution of SARS-CoV-2 infection, the establishment of SARS-CoV-2-specific T-cell and B-cell memory in mild COVID-19 in children remains unexplored. We recruited a household cohort to understand SARS-CoV-2-specific CD4+ and CD8+ T-cell immune responses at one month after mild SARS-CoV-2 infection in PCR-positive children, in comparison to their mothers. We analysed SARS-CoV-2-specific T-cell responses, together with B-cells, directly ex vivo using six SARS-CoV-2 T-cell HLA class-I tetramers (A1/ORF1a1637, A2/S269, A3/N361, A24/S1208, B7/N105, B40/N322), one class-II tetramer (DPB4/S167), and Spike- and Receptor Binding Domain (RBD)-specific B-cell probes. Our in-depth profiling of epitope-specific T-cell responses at quantitative, phenotypic and clonal levels found that only children who seroconverted had prominent memory T-cell and B-cell profiles. These children had a high magnitude of SARS-CoV-2-specific T-cells displaying memory phenotypes and prevalent T cell receptor motifs, which were not observed in RBD IgG- but PCR+ children. This suggests that seroconversion but not PCR-positivity defines establishment of adaptive SARS-CoV-2-specific immunological memory in children, which is in contrast to adults with a mild SARS-CoV-2 infection. SARS-CoV-2-specific CD8+ and CD4+ T-cell responses in RBD IgG+ children were comparable to those of their mothers, with more prominent tetramer-specific T-cell responses associated with seropositivity rather than PCR status alone. Our study suggests that COVID-19 vaccination of children with mRNA vaccines could be a major advantage in terms of establishing T-cell and B-cell immunological memory.