Antenatal care (ANC) is a series of pregnancy examinations aimed at optimizing the physical and mental health of pregnant women, enabling them to adequately prepare for childbirth, the postpartum period, breastfeeding, and the restoration of reproductive health. Adequate maternal knowledge is considered an important factor influencing pregnant women’s compliance with antenatal care visits, including the sixth antenatal care visit (K6). This study aimed to examine the association between maternal knowledge and completion of the K6 antenatal care visit among pregnant women at Gandapura Public Health Center, Bireuen Regency. This study employed an analytic survey with a cross-sectional design. The study population consisted of all pregnant women with gestational ages of 36–40 weeks. A total of 31 respondents were selected using accidental sampling. Data were collected using a structured questionnaire to measure maternal knowledge and medical records to verify K6 visits. Data were analyzed using univariate and bivariate analyses, with the chi-square test applied to determine the association between variables. The findings showed that the majority of respondents with moderate knowledge did not complete the K6 visit, accounting for 7 respondents (22.6%). Statistical analysis using the chi-square test revealed a p-value of 0.000 (p < 0.05), indicating a significant association between maternal knowledge and K6 antenatal care visits. This study demonstrates a significant association between maternal knowledge and completion of the sixth antenatal care visit (K6) among pregnant women.