The Consumer Product Safety Commission said the recall is part of a settlement of a lawsuit filed by the regulator against the Berwyn, Pa., company in December 2012.
The case sought a mandatory recall of the recliners that have been the subject of 92 incident reports filed at the CPSC.
The commission said the products are associated with five infant deaths -- four involving the Nap Nanny recliners and one involving the Nap Nanny Chill recliner. They are also associated with a variety of hazardous incidents that include infants falling from the recliners or becoming entangled by their restraint harnesses.
The commission urged consumers to dispose of the recliners to ensure they would not be used again.
It is illegal to sell or re-sell any product for which the commission has issued a recall.
Four major retailers -- Amazon.com, Buy Buy Baby, Diapers.com, and Toys R Us/Babies R Us -- announced a recall of Nap Nanny and Chill model recliners in December 2012.
However, the agency said, Baby Matters disputed claims that the products were dangerous. The company agreed to the recall this week in exchange for "consideration for dismissal of the CPSC lawsuit."
Consumers were advised in December to contact the retailers involved for instructions on how to receive a refund.
The recliners were sold nationwide and online for about $130, the regulator said.