Simple, non-invasive, and affordable ambulatory fetal monitoring methods have been integrated into routine prenatal care, with the potential to enhance maternal-fetal health surveillance. Although conventional prenatal care is the basis of pregnancy monitoring, more and more studies are presenting complementary approaches that aim to identify early, potentially pathological changes in fetal status. The use of portable devices, such as a handheld fetal Doppler (for at-home detection of fetal heartbeats) and a pulse oximeter (for maternal heart rate assessment), has been proposed as additional tools in the context of pregnancy monitoring. These devices may influence patients’ behavior regarding seeking medical care and using health services. Access to instruments that allow minimal monitoring at home for pregnant women could facilitate the earlier identification of possible changes, especially in situations where access to direct medical consultations is delayed or restricted. The ease of use and availability of these devices in the broader market raise the question of their integration into a standardized prenatal monitoring framework. This study investigated the feasibility and patients’ perceptions of using handheld Dopplers during pregnancy. An observational analytical study was conducted between January 2019 and December 2023 at the Polizu Clinical Hospital in Bucharest, involving 1,127 pregnant women who met the inclusion criteria (gestational age between 14 and 27 weeks + 6 days and absence of major psychiatric disorders). Of these, 101 women completed a questionnaire regarding fetal monitoring in the second trimester. Responses were analyzed with a focus on the perceived usefulness of the handheld Doppler at home. The majority of participants (79.2%) considered the device helpful, 76.2% reported that it provided them with peace of mind, and 22.8% noted that it led to greater involvement from their partner or family. These findings demonstrate the good acceptability of the tested device, especially among pregnant women in their first pregnancy or with a perceived increased risk, and support the opportunity to integrate this type of monitoring into current obstetric practice. Furthermore, ambulatory and home fetal monitoring solutions provide valuable support in the management of modern pregnancies, but they cannot replace clinical assessment and specialist supervision.