This study aimed to assess factors associated with pregnancy in intrauterine insemination (IUI) by analyzing non-wash semen parameters with computer-assisted semen analysis (CASA). This retrospective study included 115 matched pairs from 1,685 IUI cycles performed between January 2021 and May 2022. The associations of semen motility rate, average path velocity (VAP), and straight-line velocity (VSL) with the pregnancy were investigated. The pregnant group had significantly higher motility rates (52.6% vs. 45.1%, P = 0.011), VAP (28.3 μm/s vs. 27.3 μm/s, P = 0.038), and VSL (16.3 μm/s vs. 14.8 μm/s, P = 0.012) compared to the nonpregnant group. The Receiver Operating Characteristic (ROC) curve indicated that 48.8% motility, 30.2 μm/s VAP, and 14.4 μm/s VSL were the optimal thresholds. In conclusion, the motility rate, VAP, and VSL were associated with pregnancy after IUI.