Understanding how consumer perception is related to physiochemical attributes assists in the identification of harvest and marketability parameters for muscadine grapes (Vitis rotundifolia Michx.). Three muscadine cultivars (Ison, Nesbitt, and Summit) and three advanced breeding selections (AM-9, AM-74, and AM-83) were harvested from vines at the University of Arkansas System Division of Agriculture Fruit Research Station in Clarksville, AR. The physiochemical (physical and composition) and sensory attributes (descriptive) of the genotypes were evaluated at harvest. Significant differences between genotypes were observed for berry weight (9.25–14.38 g), soluble solids (12.73% to 15.40%), pH (2.88–3.33), titratable acidity (0.54% to 1.01%), soluble solids/titratable acidity ratio (13.12–28.49), skin firmness [0.85–1.48 Newtons/millimeters (N·mm−1)], and flesh firmness (0.89–2.14 N). Total sugars (6.17–9.75 g/100 g) and total organic acid (0.50–0.84 g/100 g) levels were not significantly different for these genotypes. A trained descriptive sensory panel (n = 8) evaluated the fruit attributes for aroma (n = 9), external appearance (n = 7), internal appearance (n = 3), basic tastes (n = 3), aromatics (n = 10), feeling factors (n = 2), and texture (n = 7). The descriptive sensory panel detected differences among genotypes for external appearance, internal appearance, and basic taste attributes, more specifically with desirable attributes rather than unfavorable. However, the panelists found no differences among genotypes for texture attributes. Of the physiochemical attributes, total sugars had the most significant correlations with the descriptive sensory attributes, followed by soluble solids/titratable acidity ratio. Total sugars were correlated to 12 attributes (three aromas, two exterior appearances, two basic tastes, four aromatics, and one feeling factor) and soluble solids/titratable acidity was correlated to five attributes (one aroma, one basic taste, two aromatics, and one feeling factor). A lexicon of terms for descriptive sensory attributes for fresh-market muscadine grapes was established. This lexicon can be used for other research and breeding efforts, as well as establishing the relationship between the physiochemical and descriptive sensory attributes.