Introduction: As India strives towards achieving the Sustainable Development Goals (SDGs) and looks ahead to the Post–Millennium Development Goal–2015 era, progress in reducing maternal mortality becomes an important frontier. Evaluation of client satisfaction with antenatal care services is clinically relevant, as satisfied women are more likely to comply with treatment. The study is an attempt to assess women satisfaction regarding antenatal services. Methodology: A health facility based cross–sectional study was conducted at PHC of Udaipur district of Rajasthan. 410 subjects were selected for data collection from 40 PHCs using semistructured modified questionnaire. Results: Majority of women 51.5% stated behavior of service provider to be good. Overall 52.7% women were satisfied and 30% were dissatisfied with the antenatal services received Conclusion: although overall satisfaction with the quality of antenatal services is high, some very important aspect of provided services were inadequate.