Background: Antenatal yoga may support natural labour and reduce medical interventions, improving maternal and neonatal outcomes. This study examines its effects on spontaneous versus induced labour among primigravida women. Methodology: In a randomized control trial at SMS Medical College, Jaipur, 200 primigravida women meeting inclusion criteria were divided into intervention and control groups. The intervention group received 60-minute yoga sessions from 28 to 38 weeks of gestation. Labour outcomes were recorded upon delivery. Results: Of the participants, 69% in the intervention group had spontaneous labour versus 57% in the control group (p = 0.043). The intervention group also had fewer labour inductions and cesarean sections. Conclusions: Antenatal yoga significantly increases spontaneous labour rates, reduces inductions, and supports natural delivery. This highlights the potential of antenatal yoga in prenatal care.