Ending global hunger is one of the greatest challenges humanity faces. The second Sustainable Development Goal (SDG 2), Zero Hunger, seeks to simultaneously address global environmental sustainability and food security challenges. However, ending hunger and food shortage would lead to the increase of agricultural activities and crop yields, which in turn might rise crop residue biomass burning, leading to adverse environmental and health consequences. This study estimated the health risk using modeled airborne benzo[a]pyrene (BaP), a common indicator of carcinogenic polycyclic aromatic hydrocarbons (PAH) released from crop residue biomass burning, and demonstrated the dependence of incremental lifetime lung cancer risk (ILCR) on the prevalence of undernourishment (PoU). Results showed that 10.4% of the global population are exposed to BaP concentration levels exceeding the EU target value (1 ng/m3) due to crop residue burning. The dependence of ILCR on PoU was attributed to increasing post-harvest crop residue biomass burning consequent to growing crop yield motivated by food shortage. Although global mean ILCR from crop residue burning BaP emission was positively correlated with the mean PoU at a correlation coefficient of r = 0.87 (p < 0.0001), positive and negative associations between PoU and ILCR were found among different less-developed countries. Eighty-nine less-developed countries were clustered into five groups, and the response of each group's ILCR to their respective PoU was assessed, which was interpreted by a human development index (HDI) that measured key dimensions of human development. Results also revealed that sustainable agriculture and implementation of air emission control measures play key roles in the association between hunger and ILCR.