Background: The aim of the study was to develop a Sapodilla flavoured yogurt enriched with millet milk extracted from Paspalum scrobiculatum (Kodo millet). Millet milk was extracted by simple soaking and pressure cooking method. Methods: Four variations and control sample of the yogurt were developed with incorporation of millet milk in the proportions; 10%, 20%, 30% and 40%, where 0% served as the control. Sensory evaluation was performed using the nine-point hedonic scale. Variation 2 of the yogurt (Y2-20%) having the highest overall acceptability (7.70±0.05) was finalized for further analyses. Result: The physicochemical analysis including texture (hardness- 75.66±0.57), syneresis (4.50±0.10), pH (4.46±0.05), total titratable acidity (0.86±0.05) and total solids (23.2±0.20) were studied for the developed product. Antioxidant activity revealed 87.93% inhibition and total Phenolic content was found to be significant (P value less than 0.001) in comparison with the control. Development of flavored yogurt enriched with kodo millet milk is a novel technique. Hence, as indicated, great prospects exist in India for such value added ingredients made with traditional millets and milk byproducts along with advanced technologies for their processing.