Claire Turpin, 42, who became pregnant after fertility treatment, took her own life three months after giving birth to twins Jack and Eliza.
Mrs Turpin, from Chapeltown, Sheffield, fell from the John Lewis store car park in Sheffield city centre, landing on a car, in January last year.
An inquest heard she had been 'overjoyed' at discovering she was pregnant with twins but, although her babies were looked after to an 'extremely high standard', she felt she was not good enough to care for them.
Her health visitor Donna Sanderson said: "She was struggling to believe in herself as a new mum. I told her it is quite a stressful time and having two babies has a massive impact."
Her GP, Susan Parker, said the month before she died Mrs Turpin said she feared social services would take her babies from her.
Recording a verdict of suicide, Sheffield assistant deputy coroner Julian Fox said the hearing had been 'harrowing'.
Mrs Turpin's mother Kath Sugden said the family were critical of the medical care her daughter received.
She said: "All that happened was that Claire went to the doctor and came home with a batch of tablets."
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