In order to investigate whether or not prenatal and lactational exposure to bisphenol A (BPA) affects social behavior in mice, pregnant mice were exposed to 500 μg/kg of BPA daily from embryonic day 0 (E0) until postnatal day 21 (P21). The behavior of offspring was monitored at 11–13 and 13–15 weeks of age using an automated behavior assessment system (IntelliCage). Groups of eight mice were tasked with a nose poke, which enabled the mice to open a door to drink bottled water at the corner of their cage. BPA-exposed females visited the corner without drinking behavior during the light cycle less frequently than control female mice did. BPA-exposed males stayed at the corner for longer periods of time and showed a significantly stronger bias in the visit with drinking. In addition, the BPA-exposed males showed a shorter time interval before they visited the corner after preceding animals had visited it, compared with the control males. These findings suggest that prenatal and lactational BPA exposure might affect murine motivational behavior in a social setting differently in males and females.