Nutrition plays a major role in the survival of the progeny, and its perinatal deficiencies delay physical development and interfere with social and cognitive performance later in life. The effects of early undernutrition on maternal social performance of sensitized adult virgin rats were evaluated. Several maternal and non-maternal responses were measured in virgin female Wistar rats randomly divided into two groups, control and early undernourished, during 19 days of chronic daily exposure to fresh foster pups in home-cage conditions. Underfed females (F0) received different percentages of a balanced diet during gestation. After birth, pups were underfed (F1) by alternating every 12 h between litters two lactating dams, one with ligated nipples. Weaning was at 25 days of age followed by an ad lib diet until postpartum day 90, when sensitized virgins were maternally tested daily for seven successive sessions. Significantly (p < 0.05) low body weight scores in UG F1 virgins of five different ages were observed. The UG F1 females expressed significantly (p < 0.05) lower frequency values in sniffing, licking, retrieving, crouching, and handling shavings, with clear prolonged sniffing, retrieving and handling shaving latencies towards the foster pups compared with CG F1 sensitized females. Self-grooming was not affected, whereas exploration was significantly reduced. Current findings suggest that perinatal undernutrition interfered the organization of a core neuronal circuitry underlying the mother-litter interactions involved in social and cognitive performance of sensitized adult virgins. Furthermore, the behavioral maternal alterations in F1 virgins may possibly generate a risky negative social environment to induce cognitive and/or brain disorders in later generations.