Prepared by the High Commissioner for Human Rights, it examines the impact of the checkpoints on pregnant women.
The report says the delays force women to give birth unaided and some women and their children die as a result.
Israel says it has imposed restrictions on movement in the West Bank and Gaza to cut down on militant attacks.
It adds that in the past ambulances have been used to transport weapons and militia, and women have also taken part in suicide bombings.
