Introduction Many pregnant women experience pelvic girdle pain (PGP) during pregnancy. Etiologies are multifactorial and affect the joint stability of the sacroiliac joint. Pelvic belts could restore stability and help reduce pain during gait. The objectives were to analyze plantar pressure during gait in pregnant women with PGP, to evaluate the effect of pelvic belts, and to compare the effects of two types of belts on plantar pressure parameters. Materials and Methods Forty-six pregnant women with PGP, 58 healthy pregnant women, and 23 nonpregnant women were recruited. The motor task consisted of three-gait trials on a walkway. Plantar pressure was analyzed with four variables. Two types of pelvic belts for pregnant women were used. Results Plantar pressure in women with PGP compared with controls showed differences in all parameters: they displayed lower gait velocity and lower values for most pressure variables at the rear and forefoot (medial side). Conversely, these values were higher for the midfoot (lateral side). These alterations were also found in healthy pregnant women. There was no difference in plantar pressure between groups, those who had or had not used belts, and between the types of belt. Conclusions Pregnant women, with or without PGP, showed nearly the same changes in plantar pressure during gait. PGP did not change plantar pressure parameters. Wearing any of the belts during pregnancy did not have an effect on plantar pressure parameters during gait in pregnant women with PGP.