Despite the vital role and availability of antenatal care, only a small proportion of Nigerian women utilise it. Women’s perception and satisfaction with antenatal care is believed to improve health outcomes, continuity of care, adherence to treatment, and the relationship with the provider. The aim is to ascertain the women’s perception and satisfaction with the quality of ANC services in mission hospitals in Benin City, Nigeria. This cross-sectional descriptive study was carried out among 405 pregnant women in their third trimester. Data collection was with a pretested interviewer-administered questionnaire and analysis with IBM SPSS Statistics version 21.0. Statistical significance was taken as P value <0.05. The women’s perception of doctors and nurses was good for all domains assessed. Their satisfaction was highest for cleanliness of the facility 336 (83.0%) and lowest for amount paid for delivery services 168 (41.5%). The overall satisfaction for services received was high 337 (83.2%). The religion of the respondents, gestational age at ANC booking, payment for booking, the delivery fee and availability of requisite resources to cater for the women showed statistically significance with the overall satisfaction. However, only religion (AOR = 17.450, 95% CI = 3.364-90.508) and availability of requisite resources (AOR = 4.629, 95% CI = 2.426-8.832) independently influenced their satisfaction. This study showed a high level of satisfaction with the services rendered. However, making services more affordable as well as improving their quality through investment in both human and material resources to deliver essential care to all clients will drive better satisfaction among them.