Malted sorghum (Sorghum bicolor) and finger millet (Eleusine coracana) are drought-tolerant grains widely available in Nigeria but remain underutilized in beverage production. Malt drinks, wholesome and non-alcoholic, are gaining popularity in the country. These local grains offer promising potential for sustainable beverage development. This study investigated the impact of incorporating millet as an adjunct on the physicochemical and sensory properties of a non-alcoholic beverage formulated from malted sorghum. Six beverage samples were formulated using malted sorghum and finger millet in the following ratios: 100:0 (S), 90:10 (SM1), 80:20 (SM2), 70:30 (SM3), 60:40 (SM4), and 50:50 (SM5). Standard analytical methods were employed to assess physicochemical parameters, including pH (4.71–4.88), °Brix (12.36–12. 77), density (1,048.28–1,049.68 kg/m³), specific gravity (1.05018 –1.05157), colour (180.05–200.15 HU), pasteurization unit (85.05–85.20 PU), bitterness (12.15–13.10 IBU), and alcohol content (0.065–0.105% ABV). The results showed millet inclusion did not compromise key quality indicators, with most values meeting industry standards. Density and specific gravity confirmed optimal extract concentration, while °Brix and bitterness supported an acceptable sensory balance. Although pH values were slightly above the ideal range for microbial inhibition, they indicated moderate acidity. Pasteurization units confirmed sufficient thermal processing for safety. Sensory evaluation showed no significant differences (p < 0.05) in appearance, aroma, taste, mouthfeel, or general acceptability among S, SM1, SM2, SM3, and SM4, except for SM5, which had significantly lower scores, especially in taste (3.67), aroma (4.40), and overall acceptability (2.60). The control (S) had the highest acceptability (6.53), followed by SM2 (6.13). Millet can serve as a viable adjunct in non-alcoholic beverage production using malted sorghum without adversely affecting physicochemical or sensory quality, particularly at inclusion levels up to 40%. This highlights the potential of using indigenous grains to reduce dependency on imported brewing materials and to enhance local crop utilization in developing regions like Nigeria.