Personal or domestic servants who accompany their employer to the U.S. are eligible for B-1 Visa.
The domestic employees include:

• Housemaids
• Valets
• Footmen
• Cooks
• Butlers
• Chauffeurs
• Nannies
• Mother’ helpers
• Gardeners
•  Paid companions
  The domestic servants of a foreign diplomat or a government official is eligible for an A-3 or a G-5 Visa.