Childhood maltreatment (CM) has been consistently associated with negative sexual outcomes in couples. Yet, its link with sexual motivation, which plays a key role in relational and sexual well-being, remains elusive. Based on self-determination theory, sexual motivations encompass intrinsic motivation, extrinsic motivation (i.e., integrated, identified, introjected, and external), and amotivation. This study examined the dyadic longitudinal associations between CM and these six sexual motivations, while considering the satisfaction of basic psychological needs (i.e., autonomy, competence, and relatedness) as potential mediators. Data from 309 cohabitating couples (50.8% cisgender women, M = 32.64 years, SD = 9.59), collected at three time points over 1 year, were analyzed using actor-partner interdependence mediation models. CM was not significantly related to intrinsic motivation. However, overall, a person’s CM was indirectly associated with their own and their partner’s extrinsic motivation (i.e., integrated, identified, introjected, and external) via their own satisfaction of basic psychological needs for autonomy, competence, and relatedness in the romantic relationship. A person’s CM was also indirectly associated with their own amotivation via their own and their partner’s satisfaction for autonomy and relatedness. Findings suggest that catering to basic psychological needs of couples with a CM history may facilitate healthier sexual dynamics through their associations with sexual motivation.