Introduction – Antenatal Care (ANC) is one of the four pillars of maternal safety, an initiative to promoted and improved health during pregnancy and the early postpartum period, through prevention and management of pregnancy and childbirth. ANC Visit is an indicator to determine pregnant women's access to ANC. The utilization of ANC is depending on personal behavior that influences knowledge and attitude. The study aimed to describe the knowledge, attitudes, and utilization of ANC in Kupang City, East Nusa Tenggara, and Indonesia. Methods – The study was used a descriptive study with a cross-sectional approach. The study was conducted from March to June 2020 at four community health centers in Kupang City, which were selected randomly. The subjects of the study were pregnant women with gestational age ≥36 weeks and having the Maternal and Child Health (MCH) Handbook. A total sampling technique was applied to obtain the respondent. Data were collected using a questionnaire and a Maternal and Child Health Handbook. Results – 120 pregnant women participated in the study. The results show that majority of the respondent (86.7%) have good knowledge. More than half of the respondents (62.5%) have a positive attitude in the utilization of ANC. Seventy-one (59.2%) of the respondents have completed the ANC visit as scheduled. Discussion – Knowledge and attitude are the cornerstones of the utilization of ANC among pregnant women. The other factors that involve age, educational background and parity have a precise role in the adherence of ANC visits