Background: The health development of a baby during pregnancy is greatly influenced by prenatal bonding. The purpose of this study is to assess maternal-fetal attachment in the second- and third-trimesters and explore how the mother’s mental health and socioeconomic circumstances may affect it. Additionally, this study takes into account other relevant aspects, and addresses the existing lack of relevant information in Romania. Methods: We conducted a cross-sectional study. Data were collected from 200 pregnant women in the second- and third-trimesters of pregnancy. Personal Information Form (PIF), Depression, Anxiety, and Stress Scale-21 (DASS-21), and Maternal-Foetal Attachment Scale (MFAS) questionnaires were collected. Results: There was no statistically significant correlation between the MFAS and the mental health of the mother. Moreover, subsequent comparative analyses revealed a significant difference only in the case of socio-economic conditions, with women with a moderate socio-economic status showed higher levels of maternal-foetal attachment. Conclusions: The degree of maternal-foetal attachment is not significantly influenced by social characteristics such as age, education level, socio-economic context, or place of residence. The MFAS measured the attachment relationship. However, the study found no statistically significant correlation between the mother’s mental health and this attachment.