Background: Antenatal care (ANC) is a vital component of maternal health aimed at ensuring a safe pregnancy for expectant mothers. Delays in recognizing pregnancy and the absence of appropriate health-seeking behavior are significant contributors to maternal morbidities and fatalities. Aim: This study aimed to assess the health-seeking behavior related to antenatal care services among both antenatal and postnatal mothers residing in an urban area of Gwalior city, Madhya Pradesh. Materials and Methods: We employed a community-based descriptive cross-sectional research design. A total of 350 mothers who had given birth within the past year were selected for the study. Results: Among the study participants, 88% received adequate antenatal care, defined as a minimum of four antenatal checkups. However, only 41.4% were knowledgeable about the warning signs during pregnancy. Maternal literacy and the extent of prenatal care received were identified as major determinants of this knowledge. In terms of health-seeking behavior, 30.3% preferred the district hospital for their delivery. Adequate prenatal care was found to be significantly associated with proper gestational weight gain, exclusive breastfeeding, appropriate weaning practices, and the consumption of iron and folic acid supplements. Conclusion: While there is a reasonable utilization rate of antenatal services, this study underscores the importance of providing health education to all pregnant women and expectant mothers regarding the warning signs of pregnancy and the significance of adequate prenatal care. This knowledge can empower them to recognize when and how to seek medical care, thereby contributing to a reduction in overall maternal morbidity and mortality