BARNSTABLE — A 35-year-old Boston man pleaded not guilty this morning to the 2010 murder of a Nantucket woman who was pregnant with his child, prosecutors said.

Wearing a dark gray T-shirt and light-blue jeans, Quoizel L. Wilson was arraigned in Barnstable Superior Court on charges of first-degree murder, assault and battery with a dangerous weapon, and unlawful disposal of a body. He allegedly shot Trudie Hall, 23, several times and left her remains in the Cape Cod town of Falmouth. He was arrested without incident Tuesday in Chelsea.

Wilson’s lawyer, Robert J. Galibois, said his client will maintain his innocence throughout the trial.

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Galibois also questioned prosecutors’ claim that Wilson was the father of Hall’s unborn child.

“I haven’t seen any evidence whatsoever showing that my client is the father of the unborn child,” he said outside the courthouse.

Hall, a certified nursing assistant, was four months pregnant when her mother, Vivienne Walker, reported her missing on July 28, 2010.

A day later, police found her rented 2009 Toyota Avalon in West Barnstable. Investigators found blood and bullet casings inside the vehicle.

Authorities scoured hundreds of acres of woods in the weeks that followed. A man walking his dog in April 2012 found Hall’s remains in a wooded area off Hayway Road in Falmouth.

Wilson has since divorced. He and his former wife sold their Centerville home in November 2012 for $250,000, according to property records.

Cape and Islands District Attorney Michael O’Keefe said Tuesday in a telephone interview, “We believe that [Wilson] had a relationship with [Hall], that he met her as soon as she arrived in Hyannis that day and spent several hours with her. And then we believe that he met her later that evening, and that he killed her.”

Walker, the victim’s mother, said little as she left the courtroom this morning.

“None of this is going to bring my daughter back,” she said, walking to her car.