Worldwide, millets, also known as nutri-cereals are regarded as nutritionally rich grains, but they are less explored. Millet grains have nutrient-dense properties and immense health benefits to offer. The emphasis on nutri-cereals is particularly relevant in the case of urban population due to changing dietary patterns and rising incidence of non-communicable diseases (NCDs) such as hypertension, obesity, diabetes, and cardiovascular disorders. The millet-based foods can play a crucial role in providing health benefits to urban communities facing such health challenges. To understand the consumption pattern and associated factors in the urban context, a cross-sectional study was conducted covering 574 middle-income households in different localities of Delhi, India. It was found that consumption of nutri-cereals was substantially lower, except for pearl millet and buckwheat. Most nutri-cereals, including finger millet, foxtail millet, proso millet, barnyard millet, kodo millet, little millet, amaranth, and sorghum, had a consumption rate below 50% (ever consumed), indicating their limited inclusion in household diets. The two prominent factors associated with household millet consumption include the health benefits and cultural significance of these nutri-cereals, as well as the practice of cooking and serving them at home, along with other health considerations.