Background: There is increasing awareness of disrespect and abuse (DAA) during childbirth. Globally, DAA during delivery is a common cause of suffering and violation of the human rights of birthing mothers. Respectful maternal care is necessary to improve the quality of care and uptake of institutional delivery services to reduce maternal and perinatal morbidity and mortality. The study aims to determine the prevalence, common forms, and perception of maternal DAA among mothers who just gave birth and are still in the hospital. Methodology: A cross-sectional study on 261 consenting postnatal women at four public healthcare facilities in Lagos, Nigeria. An interviewer-administered pretested questionnaire was used to obtain data on sociodemographic characteristics and experiences of DAA. We analysed the data using Statistical Package for Social Sciences (SPSS) version 25. Logistic regression analysis was used to assess significant risk factors for DAA during delivery and early puerperium. Results: The prevalence of DAA during childbirth was 82%. Perceptions of non-consented care and abandonment/neglect were the most reported forms of DAA reported by 86.8% and 45.6% of respondents, respectively. The odds for DAA were four times greater in women who had pregnancy complications compared to those who did not (aOR: 4.50, 95%CI: 1.5013.46) and doubled in women who had vaginal delivery compared to Caesarean section (aOR: 2.10, 95%CI: 1.07-4.12). Conclusion: DAA is prevalent during childbirth in our public healthcare facilities. This goes against the proposed standard of care where respectful maternal care is every womans right, posing a risk for reduced use of institutional delivery services.