More than 2,000 mothers were asked about their experiences in the first study of its kind in 15 years.
The Scottish Maternity Care Survey shows 91% received excellent or good care while 93% rated care during labour as excellent or good.
A target for 80% of women to have their first ante-natal assessment by 12 weeks of pregnancy was beaten.
But only 56% said they received enough information to help them decide where to have their baby.
Five per cent of women said they were not treated with kindness or understanding while in hospital giving birth.
Public health minister Michael Matheson said: "It is extremely encouraging that so many of the mums surveyed rated their care as either excellent or good, however there is no excuse for poor quality care in any circumstances, no matter how rare.
"We have already begun tackling some of the issues identified by this survey through our Refreshed Framework for Maternity Care, which outlines the services we expect to be in place for women and babies throughout ante-natal, labour and post-natal care.
"We'll continue to work closely with health boards to examine in more detail the results of this survey and ensure that the high standard of maternity care in hospitals is maintained."