Maternal health is a key indicator of public health service quality. The Indonesian Ministry of Health recommends a minimum of four (K4) and six (K6) antenatal care (ANC) visits during pregnancy. However, data from the 2023 Indonesian Health Survey (Survei Kesehatan Indonesia/SKI) indicate low coverage, with K4 coverage of 13.9% in Central Papua Province and K6 coverage of 4.1% in North Maluku Province. This study aimed to analyze individual and health service factors associated with pregnant women’s participation in ANC K4 and K6 visits in low-coverage areas.This quantitative observational study employed a cross-sectional design using secondary data from the 2023 Indonesian Health Survey. The study population consisted of women aged 10–54 years who had experienced pregnancy within the last year. A total of 118 respondents met the inclusion criteria. Data were analyzed using SPSS through univariate analysis, bivariate analysis using Chi-square and Fisher’s Exact tests, and multivariate logistic regression. Bivariate analysis showed that in North Maluku Province, ANC participation was significantly associated with maternal age, pregnancy examiner, knowledge of pregnancy danger signs, iron supplementation consumption, and service accessibility (p < 0.05). In Central Papua Province, only maternal age was significantly associated with ANC participation (p < 0.05). Multivariate analysis identified accessibility as the only factor significantly associated with complete ANC visits in North Maluku Province (p = 0.020; Exp(B) = 0.088). Limited accessibility substantially reduced the likelihood of completing recommended ANC visits. Improving service accessibility and maternal health education is essential to increase ANC utilization in low-coverage areas.