Millets are gaining global attention as resilient and nutritious staple crops capable of addressing food insecurity in regions vulnerable to climate change, such as India and sub-Saharan Africa. Their ability to thrive in arid, low-input environments makes them suitable alternatives to traditional cereals, contributing to sustainable agricultural systems that can withstand climatic stresses and reduce dependence on irrigation and high-fertility soils. Recognizing this potential, the United Nations General Assembly declared 2023 the International Year of Millets to elevate awareness of their role in enhancing food and nutritional security, promote sustainable production, and stimulate policy attention and investment in research and development. In parallel, dietary challenges related to dairy consumption are increasing in many developed regions. Lactose intolerance, caused by a deficiency in the enzyme lactase, impairs lactose digestion and can exacerbate gastrointestinal conditions, necessitating the reduction or elimination of dairy from affected individuals’ diets. Additionally, milk allergy, an immune response to milk proteins, requires strict avoidance of dairy products to prevent adverse reactions. These conditions have driven demand for plant-based dairy alternatives that are free from lactose and dairy proteins. Millets offer an effective option for such alternatives. They can be used to formulate dairy-free products, such as millet-based milk, which serve as nutritious substitutes for conventional dairy. Beyond meeting the needs of individuals with lactose intolerance and milk allergies, millet-derived foods provide essential macro- and micronutrients, supporting diversified diets and contributing to global efforts to improve food security and nutrition under changing climatic conditions.