Primates show large interindividual variability in the character and quantity of interactions between mothers and their immature offspring. Multiple studies have documented associations between maternal behavior and the occurrence or frequency of certain behaviors among offspring, but it remains unclear whether and how early maternal interactions generally affect behavioral development in offspring. We followed two wild groups of Japanese macaques on Yakushima island and investigated the relationship between maternal behavior and several types of behavior performed by 35 juvenile offspring. We further asked if the impact of maternal behavior on juvenile behavior persists regardless of the distance between mother and offspring, testing whether the influence extends beyond cases when the mother is nearby. We found that juveniles whose mothers frequently rejected them approached and played with others more often, independent of their mother's presence. Juveniles of more protective mothers were in proximity to fewer other individuals and played less, but only if their mothers were nearby. Maternal rejection appears to exert a generalized effect on offspring behavior that endures when mothers are absent. In contrast, effects of maternal protectiveness may be temporary and/or reflect direct maternal influences, such as active intervention in offspring interactions, or effects of the mother's own social relationships on offspring interactions. Our results suggest that understanding how maternal behavior affects offspring development requires paying attention to the context of juvenile behavior, including the mother's distance from her offspring.