The nonlinear propagation of positron-acoustic waves (PAWs) in an unmagnetized, collisionless, four component, dense plasma system (containing non-relativistic inertial cold positrons, relativistic degenerate electron and hot positron fluids as well as positively charged immobile ions) has been investigated theoretically. The Korteweg–de Vries (K–dV), modified K–dV (mK–dV) and further mK–dV (fmK–dV) equations have been derived by using reductive perturbation technique. Their solitary wave solutions have been numerically analysed in order to understand the localized electrostatic disturbances. It is observed that the relativistic effect plays a pivotal role on the propagation of positron-acoustic solitary waves (PASW). It is also observed that the effects of degenerate pressure and the number density of inertial cold positrons, hot positrons, electrons and positively charged static ions significantly modify the fundamental features of PASW. The basic features and the underlying physics of PASW, which are relevant to some astrophysical compact objects (such as white dwarfs, neutron stars etc.), are concisely discussed.