The Australian Institute of Health and Welfare (AIHW) reported that there were 105 pregnancy and childbirth-related deaths between 2008 and 2012.
The report also revealed that Indigenous mothers are dying from pregnancy and childbirth complications at twice the rate than that of non-Indigenous women.
"The incidence of maternal death in Aboriginal and Torres Strait Islander women was more than double that for non-Indigenous women, with maternal mortality ratios of 13.8 and 6.6 deaths per 100,000 women who gave birth, respectively," said lead author Professor Humphrey.
According to the report, the leading causes of direct maternal death included obstetric haemorrhage, thromboembolism (blockage of major blood vessels caused by blood clot), and hypertensive complications of pregnancy.
Indirect causes of death included cardiac disease related to mental health and substance abuse, Professor Humphrey said.
"Deaths due to cardiac conditions and psychosocial causes have been the most prominent in Aboriginal and Torres Strait Islander women over the period 2000 to 2012. The increased risk of death in Indigenous mothers remains a major concern.
"I think we need to do more about providing good mental health care in pregnancies and after pregnancies - with suicide being one of the most important causes of indirect maternal death."
He said that one way to tackle maternal mortality rates in the community was for Indigenous mothers to have access to culturally sensitive health professionals.
Complications in pregnancy and childbirth are the second-most common causes of death for 15 to 19-year-old women around the world, after suicide, the United Nations Population Fund (UNFPA) says.
The 'maternal mortality ratio' represents the number of women who die of pregnancy or abortion-related issues per 100,000 live births.
"It's estimated that a jumbo jet full of women die in childbirth everyday worldwide," said Professor Humphrey.
In Australia, maternal mortality rates are relatively low, with one woman for every 14,085 women dying while giving birth.
Professor Humphrey said figures from AIHW's report should be interpreted with caution due to the small numbers and the rare occurrence of these deaths.
"It's very safe to have a baby in Australia," he said. "In this particular five year period of 2008 to 2012, it was 7.1 deaths per 100,000 women."
Earlier this year, Australia was among the top 10 countries in the world to be a mother, according to Save The Children.
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