Climate-smart agriculture is one of the most important actions for agricultural climate change adaptation, especially in Togo, a sub-Saharan African country with a fragile ecology and where agriculture is profoundly impacted by climate change. Using a multinomial endogenous switching regression (MESR) and a multinomial endogenous treatment effect (METE) approach, we conducted empirical research to identify the factors influencing the adoption decisions of climate-smart agricultural practices (CSAPs) and their impact on household food security among smallholder farmers in Togo. The findings of this study revealed that the adoption of CSAPs by farmers is influenced by a range of factors, such as age, marital status, the household head’s gender, engagement in off-farm activities, level of education, farm size, agroecological zone, regional location, land ownership, distance between homestead and farm, access to credit, the presence of agricultural associations and cooperatives, and access to extension agents. On the one hand, the MESR analysis demonstrated a positive correlation between the number of adopted CSAPs and households’ food consumption score. Similarly, greater adoption of CSAPs resulted in a significant reduction in the food insecurity experience scale. On the other hand, the METE model portrayed an increase in acceptable food consumption when households adopted up to three CSAPs. Likewise, it significantly alleviated severe food insecurity. Further results based on the propensity score matching technique showed that the adoption of a crop rotation system, utilization of improved varieties of seeds, plant protection products, inorganic fertilizer, organic fertilizer, and irrigation improved adopters’ food consumption scores while reducing their level of food insecurity.