Abstract We present rest-frame UV Hubble Space Telescope imaging of the largest and most complete sample of 23 long-duration gamma-ray burst (GRB) host galaxies between redshifts 4 and 6. Of these 23, we present new WFC3/F110W imaging for 19 of the hosts, which we combine with archival WFC3/F110W and WFC3/F140W imaging for the remaining four. We use the photometry of the host galaxies from this sample to characterize both the rest-frame UV luminosity function (LF) and the size–luminosity relation of the sample. We find that when assuming the standard Schechter-function parameterization for the UV LF, the GRB host sample is best fit with α = − 1.30 − 0.25 + 0.30 and M * = − 20.33 − 0.54 + 0.44 mag, which are consistent with results based on z ∼ 5 Lyman-break galaxies. We find that ∼68% of our size–luminosity measurements fall within or below the same relation for Lyman-break galaxies at z ∼ 4. This study observationally confirms expectations that at z ∼ 5 Lyman-break and GRB host galaxies should trace the same population and demonstrates the utility of GRBs as probes of hidden star formation in the high-redshift Universe. Under the assumption that GRBs unbiasedly trace star formation at this redshift, our nondetection fraction of 7/23 is consistent at the 95% confidence level with 13%–53% of star formation at redshift z ∼ 5 occurring in galaxies fainter than our detection limit of M 1600Å ≈ −18.3 mag.