Mother-infant bonding is universal to all mammalian species. Here, we review how mutual communication between the mother and infant leads to mother-infant bonding in non-primate species. In rodents, mother-infant bond formation is reinforced by various pup stimuli, such as tactile stimuli and ultrasonic vocalizations. Evidence suggests that the oxytocin neural system plays a pivotal role in each aspect of the mother-infant bonding, although the mechanisms underlying bond formation in the brain of infants has not yet been clarified. Impairment of mother-infant bonding strongly influences offspring sociality. We describe the negative effects of mother-infant bonding deprivation on the neurobehavioral development in rodent offspring, even if weaning occurs in the later lactating period. We also discuss similar effects observed in pigs and dogs, which are usually weaned earlier than under natural conditions. The comparative understanding of the developmental consequences of mother-infant bonding and the underlying mechanisms provide insight into the biological significance of this bonding in mammals, and may help us to understand psychiatric disorders related to child abuse or childhood neglect.