In this paper we shall prove several weighted $L^{p}$ Hardy-type inequalities associated to the Baouendi-Grushin-type operators $\Delta _{\gamma }=\Delta _{x}+\left\vert x\right\vert ^{2\gamma }\Delta _{y},$ where $\Delta _{x}$ and $\Delta _{y}$ are the classical Laplace operators in the variables $x\in \mathbb{R}^{n}$ and $y\in \mathbb{R}^{k},$ respectively, and $\gamma $ is a positive real number.