Introduction: WHO has recommended a minimum of 4 ANC visits, of which the first should be within 12 weeks of gestation in order to insure good quality antenatal care in the community, to identify and help threat to mother and the fetus during gestation, to identify gestation related conditions and to promote women's health. Aim: The aim of this study is to examine the utilization of ANC services among pregnant women and assess the factors influencing the utilization of antenatal care services. Materials and Methods: We conducted an institution-based cross-sectional study among 317 pregnant women at a tertiary care hospital from 01/06/2023 to 31/07/2023. Patients were selected using a systematic random sampling technique. The women were interviewed using a predesigned and pretested semi-structured proforma, and we established the correlation between comprehensive ANC and various determinants affecting it using the Chi-square test. Results: The study comprised 317 antenatal women, the majority of whom fell within the age group of 20-29 years. A significant portion originated from rural areas within a 5 km radius of the hospital, utilizing personal transportation for hospital visits. The majority had attained education up to Grade 10 and had completed their ANC registration during the 1st trimester, attending more than 4 ANC visits. Notably, none of the patients were admitted to the labor room without prior antenatal visits. Conclusion: Our study revealed that full utilization of antenatal care services was not attained. To enhance utilization, there is a necessity for effective community mobilization. Furthermore, there is a crucial need to educate individuals about the significance of ANC visits and to raise awareness about programs designed for pregnant women.