Two-dimensional topological superconductivity has attracted great interest due to the emergence of Majorana modes bound to vortices and propagating along edges. However, due to its rare appearance in natural compounds, experimental realizations rely on a delicate artificial engineering involving materials with helical states, magnetic fields, and conventional superconductors. Here we introduce an alternative path using a class of three-dimensional antiferromagnets to engineer a two-dimensional topological superconductor. Our proposal exploits the appearance of solitonic states at the interface between a topologically trivial antiferromagnet and a conventional superconductor, which realize a topological superconducting phase when their spectrum is gapped by intrinsic spin-orbit coupling. We show that these interfacial states do not require fine-tuning, but are protected by asymptotic boundary conditions.