Legends:
* In the Legends continuity, Darth Maul's mother was a Nightsister named Talzin, leader of the Nightsisters on Dathomir. His father was a Zabrak male named "Mother Talzin's consort", though his name is never revealed.
* This information was largely established in the comic book series "Star Wars: Darth Maul".
Canon:
* Canon has largely retconned the Legends continuity. The identity of Maul's parents remains a mystery.
* Some theories suggest his mother could be a Nightsister, as Maul's connection to Dathomir and the Nightsisters is established in canon. However, this remains speculation.
Conclusion:
While Legends provided information on Darth Maul's parentage, this information has not been carried over into canon. As of now, the identity of his parents remains unknown in official canon Star Wars material.