Bisphenol-A (BPA) and bisphenol-S (BPS) are estrogen disrupting chemicals (EDCs) found in the environment and common household items. Estrogen is a primary hormonal regulator of bone growth and development; however, the impact of gestational BPA or BPS exposure on skeletal health of offspring remains relatively unknown. In this longitudinal study, adult female mice were randomized into three groups: 200 μg BPA/kg BW (BPA), 200 μg BPS/kg BW (BPS) or control (CON). Animals in each group were further randomized to exercise treatment (EX) or sedentary (SED) control, resulting in six overall groups. BPA/BPS/CON and EX/SED treatment were initiated prior to mating and continued through mating, gestation, and lactation. One female offspring from each dam ( = 6/group) was assessed at 17 weeks of age to evaluate effects of EDC exposure on the adult skeleton. Cortical geometry of the mid-diaphysis and trabecular microarchitecture of the distal femur were assessed via micro-computed tomography. Biomechanical strength and mineral apposition rate of the femoral diaphysis were assessed via three-point bending and dynamic histomorphometry, respectively. Sclerostin expression was measured using immunohistochemistry. Two-factor ANOVA or ANCOVA were used to determine the effects of maternal exercise and BPA or BPS exposure on trabecular and cortical bone outcomes, respectively. Consistent with prior studies, there were no significant differences in body weight, femoral length, cortical geometry, trabecular microarchitecture, or biomechanical strength between groups in female offspring. In conclusion, gestational BPA exposure and maternal exercise have minimal impact on skeletal outcomes in female adult offspring.