Brassiere straps are commonly perceived as one of the most irritating and uncomfortable components of a brassiere, especially for women with heavier breasts. This study aimed to design and developed auxetic structures to enhance the ergonomics of intimate apparel. The brassiere straps were developed by using textured polyester and nylon yarns with auxetic weave structures in two different widths. Tests were conducted to evaluate Poisson’s ratio, tensile strength, and pressure distribution properties and overall ergonomics of developed straps. Subjective analysis was also performed by conducting wear trials. The development of polyester straps yielded excellent results compared to nylon. In the subjective analysis, the selected polyester sample consistently performed better than others, significantly enhancing ergonomics comfort, fit, and psychological comfort according to respondents’ preferences. Based on the results, Auxetic structure can be a better alternative for brassiere straps in active wear to avoid related health problems and to improve women’s experience.