Introduction: Poor feeding practices can result in malnutrition, which may have long-term negative effects on children’s physical and cognitive development. There is limited qualitative research exploring feeding practices among caregivers of urban poor, even though their children are highly vulnerable to undernutrition. Aim: This qualitative study aimed to explore and compare the feeding practices, barriers and coping strategies of caregivers of well-nourished and undernourished children aged three to five years living in public low-cost housing in Kuala Lumpur, Malaysia. Methods: Semi-structured in-depth interviews were conducted among 27 caregivers. Caregivers were purposively selected using purposive sampling and categorized into two groups based on their children’s growth status: families with well-nourished children (FWWC; n=15) and families with undernourished children (FWUC; n=12). Thematic analysis was conducted. Results: Two main themes emerged: feeding practices and barriers and coping strategies to feed children. FWWC caregivers demonstrated certain unique yet beneficial practices. They emphasized responsive feeding techniques, such as using nutritious snacks, promising outdoor activities, and involving children in meal preparation at home as effective strategies to increase children’s food intake. Contrarily, FWUC caregivers practiced less responsive feeding techniques, such as forcing, ignorance, and distraction. Caregivers from both groups experienced similar barriers (child barriers and family barriers) and applied comparable coping strategies (ignorance, distraction, pressure and force, compromise, and creativity). Conclusion: Understanding feeding practices of caregivers of healthy and undernourished children can guide the development of culturally tailored interventions and policies. These efforts can help address barriers and improve child nutrition through responsive feeding, ultimately preventing undernutrition.