Promoting brown adipose tissue (BAT) function or browning of white adipose tissue (WAT) provides a defense against obesity. The aim of the study was to investigate whether maternal polar lipids‐enriched milk fat globule membrane (MFGM‐PL) supplementation to high‐fat diet (HFD) rats during pregnancy and lactation could promote brown/beige adipogenesis and protect against HFD‐induced adiposity in offspring. Female SD rats were fed a HFD for 8 weeks to induce obesity and, then, fed a HFD during pregnancy and lactation with or without MFGM‐PL. Male offspring were weaned at postnatal Day 21 and then fed a HFD for 9 weeks. MFGM‐PL treatment to HFD dams decreased the body weight gain and WAT mass as well as lowered the serum levels of insulin and triglycerides in male offspring at weaning. MFGM‐PL+HFD offspring showed promoted thermogenic function in BAT and inguinal WAT through the upregulation of UCP1 and other thermogenic genes. In adulthood, maternal MFGM‐PL supplementation reduced adiposity and increased oxygen consumption, respiratory exchange ratio, and heat production in male offspring. The enhancement of energy expenditure was correlated with elevated BAT activity and inguinal WAT thermogenic program. In conclusion, maternal MFGM‐PL treatment activated thermogenesis in offspring, which exerted long‐term beneficial effects against HFD‐induced obesity in later life.