Channel 4 documentary Bringing Up Baby has been cleared of wrongdoing by media watchdog Ofcom, despite generating 752 complaints from viewers.
The three mentors used methods from the 1950s, '60s and '70s
The show, which detailed old-fashioned childcare techniques including leaving a baby outdoors, was called "neglectful and abusive" by complainants.
Ofcom ruled there was no evidence to suggest the children used had been mistreated, or were in any distress.
The show's look at three well-known regimes was not problematic, it added.
But Ofcom did say that 1950s childcare advocate Claire Verity should not have been referred to as a "maternity nurse" during the broadcast.
Viewers were also concerned that Ms Verity's practices from the Truby King method were not highlighted as having potentially harmful effects.
But Ofcom concurred that the families involved in the programme had given their consent, were aware of the techniques employed and were free to withdraw at any time they wished.
Other methods which were examined during the show included putting infants in separate rooms to their mothers and discouraging parents from having eye contact.
The National Society for the Prevention of Cruelty to Children had called the programme "outdated and potentially harmful" for using children aged under five.
Ofcom said that the protection of children was one of the most important areas of the broadcasting code, but the Channel 4 programme had not contravened this.