Aparna Pokharkar (27) was admitted to the YCMH yesterday where she delivered a baby boy.
During visiting hours, Aparna's parents left the ward, where she was lodged, to have lunch while she was asleep. When they returned, they did not find the baby in the cradle, police said.
They immediately informed the hospital staff and lodged a police complaint.
Pimpri Chinchwad Municipal Corporation's (which runs the hospital) medical officer A D Jagdale said the CCTV footage clearly showed a woman, in a white dress, coming out of the maternity ward with a baby in her hands.
The woman's face is clear in the CCTV footage, he added.
"We have shown CCTV footage to hospital staff to identify the woman," said Pimpri police.
"We have filed complaint against the unidentified woman under sections 361 and 363 of Indian Penal Code at Sant Tukaramnagar police station," police added.