Blood pressure regulation during pregnancy is poorly understood. Cardiovagal baroreflex gain (BRG) is an important contributor to blood pressure regulation via its influence on heart-rate. Heart-rate fluctuations occur in response to various physiological stimuli and can be measured using heart-rate variability (HRV). It is unclear how these mechanisms operate during pregnancy, particularly related to exercise. We examined BRG and HRV prior to, during, and following prenatal exercise. Forty-three pregnant (n=10 first trimester [TM1], n=17 second trimester [TM2]; n=16 third trimester [TM3]) and 20 non-pregnant (NP) women underwent an incremental peak exercise test. Beat-by-beat blood pressure (photoplethysmography) and heart-rate (lead II ECG) were measured throughout. BRG (slope of the relationship between fluctuations in systolic blood pressure and R-R interval) and HRV (root mean square of the successive differences; RMSSD) were assessed at rest, during steady-state exercise (EX), and during active recovery. BRG decreased with gestation and was lower in TM3 compared to NP (17.9±6.9 vs 24.8±7.4 ms/mmHg, p=0.017). BRG was reduced during EX in all groups. Resting HRV (RMSSD) also decreased with gestation and was lower in TM3 compared to NP (29±17 vs 48±20 ms, p<0.001). RMSSD was blunted during EX for all groups compared to REST. During active recovery, RMSSD was further blunted compared to EX in NP, but not during pregnancy (TM1, TM2, and TM3). Compared to non-pregnant controls, pregnant women had lower BRG and HRV at rest, but comparable cardioautonomic control during both exercise and active recovery following peak exercise.