The objective of this study was to investigate the effect of exposure to maternal consumption of a hyperenergetic, highly palatable diet, known as the cafeteria diet, during the gestation period on the development and behavior of offspring. For this, we used pregnant female mice that were fed a normal or a cafeteria diet during the gestation period. The evaluation of maternal behavior in lactating dams was performed from the second to the eighth day postpartum (PND 2-8). Weight gain, feed intake, and energy intake were recorded during the gestation period. In the offspring, reflex parameters and physical development were evaluated during the lactation period and when they reached adolescence. Behavioral performance was evaluated in light-dark, open-field, and play behavior tests. In addition, biochemical parameters of the dams and the adolescent offspring were evaluated. The cafeteria diet during gestation altered maternal behavior and the onset of physical and neurodevelopmental landmarks and had an impact on emotional and play behavior in adolescent offspring. In conclusion, our results demonstrate that exposure to maternal consumption of a cafeteria diet during the gestation period can program developmental and behavioral courses in the offspring.