Promoting men’s involvement in antenatal care (ANC) requires an understanding of their views on how they ought to be involved. Their involvement in ANC services can help in reducing delay in deciding to seek care and facilitate women’s access to skilled antenatal services. This study sought to determine men’s views and knowledge on, and challenges to, involvement in ANC services in Tanzania. The cross-sectional study was carried out in four districts of Dodoma Region in November 2014 and June 2016. A multi-stage sampling strategy was used to select the study respondents. Data were collected by interviewing 966 men using a structured questionnaire. Univariate, bivariate and multivariate logistic regression analyses were used to examine the association between men’s involvement in ANC services and their background characteristics. About 63.4% of respondents accompanied their partners to ANC services. Men’s view was that they can be involved through accompanying their partner to ANC clinics and providing money for health services. Men who had poor knowledge on ANC services were two times less likely to be involved in ANC services. Similarly, long waiting times at the antenatal clinics decreased the likelihood of service utilization by their partners. Men from a two-income household were more likely to be involved in ANC services than men from households where the men’s earnings were the only source of income. Challenges encountered by men during attendance at ANC services included: perception of antenatal clinics as places only for women, financial difficulties, influence of peer pressure and lack of time due to occupational demands. There is a need to establish community outreach ANC services that offer couple-friendly services in Tanzania. Also, it is crucial to have a policy for men’s involvement in maternal health care that addresses cultural practices that hinder men’s involvement in ANC services.