Abstract Background Antenatal care (ANC) is a careful, systematic assessment and follow-up of pregnant women, that includes education, counseling, screening, and treatment to assure the best possible health of the mother and her fetus. In order to assure each women gets the best quality of care, quality assessment of all items of antenatal care should be arranged regularly. This study aims to measure the perceived quality of antenatal care services, the adherence of the primary care physician to the Egyptian ministry of health guidelines as well as the overall satisfaction of pregnant women about their antenatal care services. Methods A cross sectional study was conducted from January till April 2021 among women aged 1849 years old who attend antenatal care clinics at four primary health centres in Cairo, Egypt. All health centres included in the study are government run facilities. Results Despite the high overall satisfaction (98%) reported for the antenatal care services, the total quality score was low (<60%), the highest satisfaction was reported from most of accessibility point and cleanliness of the primary care centers, answering inquiries, number of the doctors, discussion of the delivery plan, health education about importance of folic acid and iron supplements, family planning and cost of the service. Lowest satisfaction reported from the PHC was for working hours of the center, history taking, examination time, health education about diet, breastfeeding, and the harmful effects of passive smoking. Although most women reported that they had the majority of the Egyptian antenatal guidelines covered by their physician, items like past medical history, personal hygiene and oral glucose challenge test were missed. Conclusion The findings showed the need for new approaches to upgrade the quality of antenatal care and improve the health education skills for the primary care physicians, despite the high overall satisfaction.