Pigeonpea [Cajanus cajan (L.) Millsp.] plays a significant role in meeting the challenges of global food and social security of the farming communities, especially under the looming threats of climate change, soil degradation, and escalating production costs. The grains of this pulse contain high protein and a range of mineral nutrients, and this makes pigeonpea a valuable food supplement, especially for vegetarian masses. The crop improvement activities in this crop are being carried out since the last three-quarters of a century and these efforts have yielded several significant accomplishments, but unfortunately, the same cannot be said about its on-farm productivity. In this chapter, besides summarizing the key breeding accomplishments, the major constraints encountered in this journey are also briefly outlined. Also, the authors have made some suggestions to attain a positive growth trajectory in the near future by developing high-yielding cultivars/hybrids using new plant breeding and genomics technologies.