Settlement among pastoralists is expected to facilitate access to social amenities. However, information on its impact on dietary changes and undernutrition under five children is limited. This study aimed to determine dietary diversity among children aged 6-59 months in settled pastoral households. In a cross sectional survey, 394 households with index child were randomly sampled using multistage technique. A pre-tested questionnaire was used to collect information on population characteristics and dietary diversity. A dietary diversity score and minimum dietary diversity of the children were then calculated by summing the number of food groups from 0 to 7 eaten by the child 24 hours from the previous day. Categorical data was presented as proportions, while continuous variables mean ± standard error. Chi-square and analysis of variance were used to establish population differences. Linear regression was used to assess the relationship between population characteristics and dietary diversity. Logistic regression was used to assess the association between food groups and child nutritional status. Results showed that 51.5% of children never met minimum dietary diversity. Cereals, roots and tubers were the most frequently consumed food group at 97%. Distance to market (P<0.05), household head education (p<0.05), caregiver occupation (p<0.05) and income were associated with dietary diversity. Eating legumes (OR= 0.50, 95% C.I (0.30, 0.85); p = 0.010) and vitamin A rich fruits and vegetables (OR= 0.50, 95% C.I (0.30, 0.85); p = 0.010) showed reduced odds of stunting while dairy products reduced the risk of a child becoming underweight [AOR=.2.09, 95% C.I (1.16 - 3.79); p = 0.015]. Overall, the findings highlight significant gaps in meeting dietary diversity recommendations among children in settled pastoral areas. Household head and caregiver attributes were identified as key influencing factors. It is recommended that county governments in northern Kenya promote optimal complementary feeding guidelines among settled pastoral caregivers to improve child nutrition. Key words: Pastoralists, children, under-five, dietary diversity, stunting, wasting, underweight, northern Kenya