The report by the All-Party Parliamentary Group on Birth Trauma said that access to maternity mental health support across the UK was a postcode lottery.
The inquiry, which heard evidence from over 1,300 women, heard harrowing evidence, including accounts of stillbirth, premature birth, babies born with cerebral palsy caused by oxygen deprivation and life-changing injuries to women as the result of severe tearing
It found errors were covered up by hospitals who frustrated parents' efforts to find answers and found many stories of care that lacked compassion, including women not being listened to when they felt something was wrong, being mocked or shouted at and being denied basic needs such as pain relief.
Liberal Democrat MP and co-chair of the All Party Parliamentary Group on Baby Loss, Helen Morgan MP said: "This inquiry has exposed what many of us have long feared about the state of the country's maternity services.
"For so many women to have such traumatic experiences of birth is nothing short of a national tragedy. Too many are being failed in pregnancy, birth and aftercare as this report shows.
"It's time the Government took action to end the postcode lottery in maternity services. I urge them to accept the report in full."
Sir Julian Hartley, chief executive at NHS Providers said: "This report shines a light on the significant challenges facing maternity services and the life-changing trauma that women can experience in cases of poor-quality maternity care.
"Echoing the recent Maternity & Newborn Safety Investigations report, these findings highlight the critical need for systemic and cultural changes in maternity care services.
"We welcome the recommendations to bolster support for mothers post-delivery, address the stark inequalities faced by women from marginalised groups and raise the importance of safe staffing levels to ensure high-quality care.
"But to aid trusts' ongoing commitment to improving maternity care across England, these recommendations need to be adequately funded and resourced.
"A national maternity improvement strategy that is supported by a culture of learning and teamwork, and co-developed by clinicians, is also essential."