Background: Endometriosis and its association with adverse pregnancy and perinatal outcomes have recently drawn attention, pointing to increased risks of repeated caesarean sections, the occurrence of preterm births, and stillbirths. Patients and methods: This study included 25 pregnant women diagnosed with endometriosis and 25 pregnant women without endometriosis (control group). Maternal, fetal, and neonatal data were collected and compared between the endometriosis group and the control group concerning various maternal and neonatal parameters. Results: Patients with endometriosis were slightly older, primipara (p = 0.048), and conceived using assisted reproductive technology (< 0.001**) than the control group. There were significant differences in blood loss between the endometriosis and control groups (p = 0.01). There are significant differences between both groups regarding placenta previa and blood loss in either vaginal delivery or caesarean section, post-partum hemorrhage. Conclusions: Severe deep infiltrating pelvis or ovarian endometriosis is considered a risk factor for the occurrence of maternal complications such as placenta previa, as well as fetal and perinatal complications. Additionally, a past history of pre-pregnancy surgical management of endometriosis was associated with a high risk of the occurrence of placenta previa.