The Separatists were under control of Count Dooku, who was under Sidious' control, who was essentially running the entire Clone War and using it as an excuse to take over the Republic and turn it into an empire. So when the Clone War is over and Sidious is in control of everything, he could easily obtain the battle droids the Separatists used without much trouble and a minimum of expense.
While I can understand why one would not want a 100% droid army, it would make sense to use droids when possible, since they don't need food (just plug 'em in), parts are interchangeable, and they're even more disposable than clonetroopers are.
So why doesn't the Empire use them whenever possible instead of stormtroopers? Is there an in-universe reason why the Deathstar isn't carrying clone troops or why a backwater world like Tatooine isn't left to mostly droid troopers instead of human stormtroopers?
Note that I'm talking in-universe, but since Lucas had supposedly mapped out the prequel trilogy before finishing writing Episode IV, he still could have used humans in droid costumes if he felt he could do so realistically (like with C-3P0) instead of using stormtrooper uniforms. In other words, if Lucas was already thinking of such widespread droid usage in the early stages, he could have used that in Episode IV.
Answer
The Senate banned them.
According to the Rogue One Ultimate Guide,
the Senate rolled out a mandate prohibiting the creation of battle droids
This was done due to negative feeling towards battle droids following the Clone Wars. It goes on to say that a loophole was used to create the KX-series "Security" Droids, as seen in Rogue One. The same is probably true of the Imperial "sentry" droids seen in Rebels.
According to Star Wars: Absolutely Everything You Need to Know, this didn't stop the Empire from occasionally utilizing battle droids.
[Emphasis theirs']
Thrawn uses outlawed droid technology... a terrifying murder bot.
Various other Imperial battle droids also show up in Legends, such as the dark troopers, Carbonite and Incinerator war droids and Orbot Droids.
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