An overwhelming majority of parents are "happy or very happy with the care they have received" in NHS maternity wards, a health minister told Daybreak.
Dan Poulter admitted there were a small number of births were "things can go wrong".
He also suggested new data about the cost of insurance in maternity wards had been oversimplified: "Less than one in a thousand claims in the NHS ends up with litigation but it is actually the quantum of each individual claim, the cost of each individual claim can be very high.
"There are very few claims but because when something goes wrong in maternity, and very tragically it sometimes does...you have got a lifetime cost of care for that particular baby because it may well be severely disabled."
Pregnant women should not be worried about giving birth on the NHS despite a damning report into the state of midwifery, a union chief said.
Jacque Gerrard from the Royal College of Midwives told Daybreak midwives were burnt out as they maternity services on the NHS were stretched thin.
"They will push themselves to the limit, that is the problem. They are burning out. We don't want to scare women. We are just reporting and feeding back on this report...which is underlining what we have been saying to Government for years, we need more midwives.
"But the mums that a pregnant, please don't worry. There are 700,00 births in this country, in England every year and the majority have healthy outcomes."
The NHS spends the equivalent of £700 per baby on funding insurance against claims of negligence, the National Audit Office said.
"I find it absolutely scandalous that one fifth of all funding for maternity services, equivalent to around £700 per birth, is spent on clinical negligence cover," said Margaret Hodge, the Labour MP who chairs the Public Accounts Committee.