I am a pregnant minor. Do I qualify for government assistance if my mom also receives it?

These things are generally means tested and based on the household income so if Mom qualifies you likely would too. Also please consider adoption so you don't doom a child to lifelong poverty. Sounds like you grew up that way but you've got a chance to not make the same mistakes. Let adults raise your baby so you can get an education and have a decent life. Good luck. 

You are eligible for prenatel care from county health clinics. And possibly birth expenses from medicaid.