I had the same issue and it was so bad! It was due to low iron and being severely anemic. Put me on 5mg iron twice a day and no restless legs at all anymore since then. Nothing else helped. Tried muscle relaxers, magnesium, stretching but didn't help. Good luck!
Lots of stretching but I have also heard lack of iron is to blame. Be sure to take prenatals and if need be take an additional iron supplement. Do not take tums with iron. Calcium slows the absorption if iron.
Massage, banana, walking n soaking is wat my doc recommend. I'm sure they have meds for it too. But these r all natural remedies