Germinated soybean (GSB) has a high interest in the food industry due to its potential health benefits. However, the understanding of physicochemical properties as well as sensory properties of plant-based milk made of GSB is very limited. This study, therefore, formulated GSB milk and identified its nutritional value, rheological property, and perception of consumers. The obtained result revealed that GSB milk had a high gamma-aminobutyric acid (GABA) content (127–135 mg/L) while its other properties including pH, crude protein content, and total soluble solid were equivalent to those of conventional soymilk. Due to the denaturation of protein in germination, GSB milk had a bigger droplet size in comparison with conventional soymilk, resulting in a lower viscosity. For consumer perception, sensory properties of GSB milk were evaluated as better than those of conventional soymilk. Practical applications Nutritional profiles of soymilk prepared from Germinated soybean (GSB) can be comparative with those of conventional soymilk. The increase of gamma-aminobutyric acid content and the changes in sensory properties of GSB milk bring the opportunity to develop new products prepared from this soymilk.