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I'm 5'11", but not super leggy and here's what worked for me.

Target Liz Lange tank tops. They were long enough to cover throughout my entire pregnancy and because there is no rucking on the sides I can still wear them at 7 mo PP and not look pregnant. I also liked Target maternity dresses.

GAP and Old Navy sell long pants which were long enough for me. Most of their shirts were long enough as well. You probably have to buy online, but it's free shipping for orders over $50, so I would buy a lot and return whatever didn't work.

Long Tall Sally has a limited selection of maternity wear.

The best jeans I found and the only tights long enough were from a company in England called Mommy Long Legs. They had pretty good work pants too.

If I was pregnant this summer, I would buy tall maxi dresses and live in those all summer.

I'm with @mrs.shinerbock. I always have good luck at Target. I'm not quite as tall as you, though. I'm somewhere between 5'8 and 5'9. Maxi skirts and sun dresses will be your best friend this summer.

Gap is good for long length. You can shop ebay and search by inseam.

I have the same body type and wore old navy and gap and even a pair of longs from motherhood maternity that we're cute.

Target tops were always great as were ones from the gap. I was pregnant in the winter but if I were you is totally do maxi skirts and dresses!

I am 6" and motherhood maternity long dress pants and jeans were just long enough for me to wear with flats. And most maternity shirts are pretty long anyway, though you may have to go up a size if you are very long torsoed. Liz Lange from Target fit me well, too though I don't think they have long length pants.

Ok this is a pointless post since I can't help (i'm 5'3" and ALWAYS have the opposite problem) but i just wanted to say - embrace the maternity clothes! Once you put them on you will wonder why you put it off for so long and why you can't always wear maternity clothes even when you're not pregnant! I didn't really start wearing maternity clothes until i was 15-16 weeks but i regretted not having started sooner!

ASOS maternity has, in my opinion, the best selection of affordable clothes. AND I always notice they use models that are 5'11" (they specify in product pics) so i think their clothes are more suited for taller people in general!

@namaste: Ann Taylor has a maternity line as well but online.