Maternal incarceration causes complex and diverse outcomes, affecting the mother, her family, and her community. Despite this, there are few evidence-based models of support. This paper aims to identify participant’s perspectives in developing a model of support by identifying needs, preferred services, and current barriers. Incarcerated mothers (n = 75) and service providers (n = 24) in Queensland, Australia contributed through workshops. Participants identified three support areas: (i) children’s wellbeing and mother-child relationships; (ii) while mothers are incarcerated; and (iii) when mothers return to the community. Mothers prioritized relational and self-development goals whereas service providers prioritized material needs and service delivery methods. Barriers reflected mothers’ multifaceted needs and the complex service delivery area. Preferred programs incorporated individualized, multi-modal, long-term, culturally-informed, and trauma-informed care, while system-level barriers included administrative burdens and navigating complex systems. Overall, models of support must incorporate optimal program-level and system-level characteristics to improve the outcomes of mothers and their children.