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I don't think it's your vaginal discharge although it's normal during pregnancy but it must have been your husband's semen since it came out after sex. His semen can't pass through your cervix since you're already pregnant so it comes out naturally.
If its clear or milky discharge and no foul odor, it should be normal. I also had this, me and my hubby having sex every week and as I read thru google, this kind of discharge is actually protecting our cervix against harmful bacteria..
It is not unusual for women to experience vaginal discharge during pregnancy