Introduction: During labor and delivery, mothers should be supported by people who give them comfort. The present study aims to determine the effect of continued midwifery support in labor on the childbirth experience and self-esteem of nulliparous women 6 weeks after childbirth. Methods: This randomized controlled trial was performed in 2021 on 70 pregnant women in the delivery ward. Participants were allocated to two groups through balanced block randomization. First, participants completed questionnaires. In the intervention group, the researcher stayed at the mother’s bedside and accompanied the mother continuously throughout the labor and up to 2 hours after childbirth. Both groups received routine care. Six weeks after childbirth, participants in both groups were contacted to complete the CEQ 2.0 and Rosenberg self-esteem questionnaires. The required data were collected and analyzed at a significance level of 0.05. Results: The mean (± SD) of childbirth experience 6 weeks after childbirth was 3.1 (± 0.2) in the intervention group and 2.6 (± 0.3) in the control group, and this difference was statistically significant (p < 0.001) (Cohen’s d = 1.7; 95% CI: 1.1, 2.3). The comparison of the mean of maternal self-esteem showed that this rate in the intervention group was 2.1 scores higher than that in the control group, and the difference was statistically significant (p = 0.02) (Cohen’s d = 0.6; 95% CI: 0.1, 1.1). Conclusions: Continued support of the midwife in labor and up to 2 hours after childbirth can lead to a better childbirth experience and enhance the mother’s self-esteem up to 6 weeks after childbirth.