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Nick Hardwick, the Chief Inspector of Prisons, said it was "simply not acceptable to initiate force for such purposes".
The pregnant woman's husband had been disruptive the night before his family's planned removal from the Cedars centre in Pease Pottage, West Sussex "shouting and kicking doors, causing some damage", the report found.
Judith Dennis, of the Refugee Council, said the case was "shocking" and called for the UK Border Agency (UKBA) to heed the report's recommendations, which include that force should only ever be used against pregnant women and children "in order to prevent harm".
The pregnant woman facing removal from the UK was given a wheelchair to assist her in the departures area of the Cedars centre in Pease Pottage, West Sussex, inspectors said.
But when she resisted "substantial force" was used by G4S staff and the wheelchair "was tipped up with staff holding her feet".
"At one point she slipped down from the chair and the risk of injury to the unborn child was significant," the report said.
"There is no safe way to use force against a pregnant woman, and to initiate it for the purpose of removal is to take an unacceptable risk."
A pregnant woman in a wheelchair was tipped up and had her feet held by staff from the firm behind the Olympics security shambles as she was forcibly removed from the country, inspectors have said.
G4S staff used substantial force and unofficial techniques and the "risk of injury to the unborn child was significant", the first report on a new pre-departure centre used to remove families from the UK found.
A G4S spokesman confirmed its staff were involved in incident.