Environmental enrichment (EE) after birth has been reported as an intervention improving the anxiety‐like behavior and cognitive deficit due to maternal restraint, foot‐shock, or social stress during pregnancy. However, it remains unclear whether EE after birth could benefit the early prenatal undernourished offspring. In this study, we examined the effect of daily handling as a simple EE intervention on the aberrant behavior of prenatally undernourished rats. The male rat offspring exhibited anxiety‐like behavior at 9 weeks of age due to maternal food restriction in early pregnancy. Our study shows that the daily handling after weaning has an anxiolytic effect in the prenatally undernourished offspring without affecting the behavior of prenatally well‐nourished offspring. Conversely, the concentrations of dopamine, serotonin, norepinephrine, and their metabolites were not altered in the prefrontal cortex by prenatal undernutrition or daily handling after weaning. We investigated whether the anxiolytic effect of daily handling was mediated by the protein kinase C (PKC) pathway using the PKC inhibitor, chelerythrine. The anxiolytic effect of the handling was not canceled by chelerythrine injection in prenatally undernourished offspring, whereas chelerythrine induced an anxiety‐like behavior in control rats. Our results suggest that maternal undernutrition in early pregnancy induces an anxiety‐like behavior accompanied with a PKC pathway‐hyporesponsiveness; however, daily handling ameliorates the anxiety‐like behavior through a PKC‐independent pathway.