Background: Antenatal care (ANC) is a critical intervention for reducing maternal and neonatal morbidity and mortality. However, its utilisation remains suboptimal in many parts of Nigeria, particularly with regard to early initiation and regular attendance. Socio-economic conditions may influence pregnant women's ability to access and utilise antenatal care services. Objective: This study assessed the socio-economic determinants of antenatal care attendance among pregnant women in selected communities of Odigbo Local Government Area (LGA), Ondo State. Specifically, the study assessed the level of antenatal care attendance, examined the socio-economic factors influencing attendance, and determined the relationship between socio-economic status and antenatal care utilisation. Methodology: A descriptive cross-sectional research design was adopted. Data were collected from 252 pregnant women selected through a multistage sampling technique using a structured questionnaire. Data were analysed using descriptive statistics and the Pearson Chi-square test at a 5% level of significance. Results: The findings showed that 81.3% of respondents had attended antenatal care during the current pregnancy. However, only 40.5% attended regularly, while 34.5% initiated ANC within the first trimester. Among respondents who booked late, 78.0% initiated ANC between the fourth and sixth month, while 35.6% initiated care after the sixth month. Only 21.4% of respondents knew the World Health Organization (WHO)-recommended number of antenatal visits, although 71.4% considered antenatal care important. Income, educational status, transportation cost, partner support, work commitments, and distance to health facilities were identified as major perceived socio-economic factors influencing attendance (grand mean = 2.22). Other reported barriers included household responsibilities, lack of health insurance, long waiting time, poor road conditions, and fear of medical procedures (grand mean = 2.21). However, the Pearson Chi-square test showed no statistically significant relationship between composite socio-economic status and antenatal care utilisation (χ² = 0.426, df = 2, p = 0.808). Conclusion: Although antenatal care attendance was relatively high among pregnant women in Odigbo LGA, regular attendance and early initiation of care remained inadequate. Perceived socio-economic barriers were reported by respondents but did not show a statistically significant relationship with actual antenatal care utilisation. This suggests that factors beyond socio-economic status, including health education, accessibility, and quality of maternal healthcare services, may also influence ANC utilisation. Recommendations: The study recommends intensified health education on the importance of early and regular antenatal care attendance, improved accessibility and quality of maternal healthcare services, reduction of transportation-related barriers, and increased partner involvement and support during pregnancy.