A portable diaper changing pad with a memory foam insert. The diaper changing pad comprises a mat with a panel having a body of memory foam as a cushion. The memory foam insert preferably comprises a raised head rest section. In one embodiment, the diaper changing pad further comprises two side section panels which may be folded over the middle panel. When the side section panels are folded over the middle panel, the diaper changing pad may be rolled and securely closed for easy storage and portability. The diaper changing pad preferably has a terry cloth cover. Other preferred embodiments include a nonskid bottom surface, a storage bag, and accessories, such as toys.