"People now live longer, more children are in school and more people have access to basic social services," said the report by the United Nations Development Programme (UNDP), released in Stockholm.
"Yet human development has been uneven."
Even though the global population increased by two billion from 1990 to 2015, the report found that more than one billion people escaped extreme poverty, 2.1 billion gained access to improved sanitation and more than 2.6 billion had access to an improved source of drinking water.
Among the groups where such basic deprivations were common were women and girls, ethnic minorities, indigenous peoples, people with disabilities and migrants.
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"They often face harassment, animosity and violence in host countries."
But women are still discriminated against in terms of both rights and opportunities.
"Only 10 to 20 percent of landowners in developing countries are women," it said.
Meanwhile, ethnic minorities often face discrimination and exclusion from education, employment and administrative and political positions, resulting in poverty and "higher vulnerability" to crime, including human trafficking.
Income inequality remains a problem as well.
Just one percent of the global population holds 46 percent of the world's wealth, the report said.
The UN programme recommended several measures to reach those being left behind.
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