Enhancing irrigation and nitrogen fertilizer application has become a vital strategy for ensuring food security in the face of population growth and resource scarcity. A 2-year experiment was conducted to determine to investigate the effects of different irrigation lower limits and nitrogen fertilizer application amounts on millet growth, yield, water use efficiency (WUE), N utilization, and inorganic nitrogen accumulation in the soil in 2021 and 2022. The experiment was designed with four irrigation lower limits, corresponding to 50%, 60%, 70%, and 80% of the field capacity (FC), referred to as I50, I60, I70, and I80. Four nitrogen fertilizer application were also included: 0, 50, 100, and 150 kg·hm−2 (designated as F00, F50, F100, and F150), resulting in a total of 16 treatments. Binary quadratic regression equations were established to optimize the irrigation and nitrogen application. The results demonstrated that the plant height, stem diameter, leaf area index, aboveground biomass, yield, spike diameter, spike length, spike weight, WUE, and nitrogen agronomic efficiency for millet initially increased before subsequently decreasing as the irrigation lower limit and nitrogen fertilizer application increased. Their maximum values were observed in the I70F100. However, the nitrogen partial factor productivity (PFPN) exhibited a gradual decline with increasing nitrogen application, reaching its peak at F50. Additionally, PFPN displayed a pattern of initial increase followed by a decrease with rising irrigation lower limits. The accumulation of NO3−-N and NH4+-N in the 0~60 cm soil layer increased with the increase of nitrogen fertilizer application in both years, while they tended to decrease as the irrigation lower limit increased. An optimal irrigation lower limit of 64% FC to 74% FC and nitrogen fertilizer application of 80 to 100 kg ha−1 was recommended for millet based on the regression equation. The findings of this study offer a theoretical foundation and technical guidance for developing a drip irrigation and fertilizer application for millet cultivation in Northeast China.