Background/Aims Maternity waiting homes are facilities that house high-risk pregnant women before birth, intended to prevent delays accessing care during labour and birth. By ensuring access to timely and appropriate care, maternity waiting homes can reduce maternal and neonatal morbidity. This study aimed to compare pregnancy outcomes between those who had attended maternity waiting homes and those who had not at Nyangao hospital in southern Tanzania. Methods A cross-sectional study was conducted involving women who gave birth at the hospital between 1 January 2017 and 31 September 2019. A total of 3105 files were retrieved and data were extracted using a structured checklist. Chi-squared tests were used to compare demographic characteristics and birth outcomes between the two groups, with P<0.05 deemed statistically significant. Results There were 232 women who had used maternity waiting homes and 462 who had not. Place of residence was significantly linked with increased use of maternity waiting homes, as those who lived ≥50km were more likely to use these facilities (P=0.001). Before birth, the mean length of hospital stay was 14.29 days (±11.32 days) for users and 4.02 days (±4.62 days) for non-users of maternity waiting homes. After birth, the mean length of stay was 2.88 days (±2.97 days) for users and 3.16 days (±3.88 days) for non-users. Using maternity waiting homes reduced the risk of low birth weight (P=0.001) and admission to the neonatal intensive care unit (P=0.012). Conclusions Use of a maternity waiting home is associated with improved maternal and neonatal outcomes. Available maternity waiting homes should be used by women who live a long distance from healthcare facilities and those with high-risk pregnancies. Implications for practice Healthcare professionals providing antenatal services should encourage women who live a significant distance from healthcare facilities and those with high-risk pregnancies to use maternity waiting homes, which have the potential to reduce maternal and neonatal morbidities in the low-resource communities.