<p>Fermented milk-millet fusion beverages were prepared using goat milk and sprouted millet flours viz<i>. finger millet</i> (T₁), <i>sorghum</i> (T₂), and <i>pearl millet</i> (T₃) and stored at 4 ± 1&#xa0;°C for 12&#xa0;days. Significant differences were observed in the amino acid and fatty acid compositions among the different millet types, with <i>pearl millet</i> flour showed the highest lysine (2.48&#xa0;g/100&#xa0;g of protein) and PUFA (42.98%) contents. The beverage samples exhibited improved amino acid and fatty acid compositions, as well as better health indices. Physicochemical properties were also significantly (p &lt; 0.05) influenced by millet type and storage period. The control sample exhibited the highest lightness value, whereas T₁ sample appeared darker with a higher redness value, while T₂ and T₃ samples showed increased yellowness values. The incorporation of millet enhanced the antioxidant activity of the beverages, with T₃ showing the highest DPPH (42.97%), and ABTS (67.25%) radical scavenging activities. <i>Lactobacillus and Streptococcus</i> counts in the beverages remained close to 6 log₁₀CFU/g throughout the storage period, while coliforms were not detected at any stage. All beverage samples received ratings ranging from “<i>liked moderately</i>” to “<i>liked very much</i>” on the 9-point hedonic scale and remained sensorily acceptable up to the 9th day of storage.</p> Graphical abstract <p></p>