Commercialization of neglected and underutilized species is a reasonable pathway to food security, employment growth, and reducing poverty. Pigeon pea is one of the underutilized crops with great economic value and health benefits. Despite its potential, pigeon pea is still a minor crop. This study, therefore, examined the level of pigeon pea commercialization, influencing factors of the commercialization of pigeon pea production and the constraints faced in its commercialization in Nigeria. The descriptive statistics, the household commercialization index, and the Tobit regression model were used to analyse primary data collected from 160 randomly selected pigeon pea farmers. The results showed that the mean household commercialization index was 29.2%, implying that the farmers still had a gap of a minimum of 45.8% to attain a high level of commercialization in pigeon pea production. The positive influencing factors for the commercialization of pigeon pea production were access to credit, farming experience, farm size, farm output, extension services, the use of farm machinery, and pesticides. The distance to the market had a negative influence on the commercialization of pigeon pea production. Farmers' major challenges in commercializing pigeon pea production included a lack of credit, insufficient extension contacts, a poor transportation system, pests and diseases, high production input costs, inadequate storage facilities, and insufficient access to timely market information. Therefore, this study recommends encouraging pigeon pea commercialization by the government and non-governmental organizations through the provision of farm credits, production inputs, a good transportation system, and an improved agricultural extension system.