Experiences during gestation can alter the mother’s behavior and physiology, affecting the development of the offspring, including the organization of their brains and emotional system. In livestock, one common challenge for pregnant animals is lameness: a multifactorial condition that causes pain, stress, and compromises welfare. Since pain experienced during gestation can affect offspring development, we aimed to quantify the emotional outcomes of 156 piglets born from sows with lameness during pregnancy. Gait scores of 22 pregnant group-housed sows were assessed six times at two-week intervals. Lameness scores varied from 0 (no lameness) to 5 (most severe lameness score). Saliva samples and behavior were assessed in the sows throughout the pregnancy. Sows were moved to individual farrowing pens and placental tissue was collected for glucocorticoids assessment. At 28 days of age, piglets were weaned, weighed, and grouped by body size and sex. Skin lesions were counted in each piglet on days 28, 29, and 30 after birth. During open field and novel object tests the vocalization and activity levels were evaluated. Piglet data were grouped by the lameness score of the sows as G1 (lameness score 0-1), G2 (lameness score 2-3), and G3 (lameness score 4-5). Data analysis included ANOVA or Kruskal-Wallis tests and pairwise comparisons were performed using Tukey and Kramer (Nemenyi) test with Tukey-Dist approximation for independent samples. G2 piglets were heavier than G3 at weaning. G1 piglets had fewer skin lesions at days 28 and 29 than G2 piglets. Moreover, G1 piglets vocalized more than G2 when they were subjected to the combined open field and novel object test. We did not identify differences in the concentration of placental or salivary glucocorticoids among the sampled sows showing different lameness scores. Lameness in pregnant sows has negative effects on the offspring, affecting weight gain, increasing aggressiveness, altering vocalization during an open field, and novel object tests in piglets.