Background: Infection prevention and control (IPC) is fundamental to safe healthcare delivery and the prevention of healthcare-associated infections. However, effective IPC implementation remains challenging in many rural primary healthcare settings in Nigeria because of persistent resource and health system constraints. Aim: To assess the knowledge, perception, and practices of IPC among primary healthcare workers in rural Benue State, Nigeria. Materials and Methods: A facility-based cross-sectional study was conducted among 382 healthcare workers selected through multistage sampling from 20 primary healthcare facilities in Gwer East Local Government Area, Benue State, Nigeria. Data were collected using a pretested, semi-structured questionnaire adapted from the 2023 World Health Organization IPC Minimum Requirements Assessment Tool and analyzed using SPSS version 20. Results: The mean age of respondents was 36.3 ± 5.3 years, and 54.5% were female. Overall, 93.2% demonstrated good IPC knowledge, 91.0% had positive perceptions, and 91.6% exhibited good IPC practices. About two-thirds (67.0%) had received prior IPC training. Compliance with key IPC measures included hand hygiene before and after patient contact (68.3%), consistent glove use when handling blood and body fluids (62.3%), routine environmental and equipment disinfection (91.6%), and application of standard precautions regardless of patients’ infection status (88.0%). Despite these findings, 74.6% reported previous occupational exposure to blood or body fluids. Conclusion: Primary healthcare workers demonstrated strong IPC knowledge, positive perceptions, and adherence to good practices. However, the high prevalence of occupational exposure highlights the need for sustained IPC training, adequate provision of personal protective equipment and essential IPC supplies, and strengthened supportive supervision to improve workplace safety.