Fermentation and starch hydrolysis of a pre-cooked pearl millet–groundnut (MG) slurry inoculated with amylolytic lactic acid bacteria (ALAB) or by back slopping was investigated as a substitute for the addition of malt to prepare infant gruels. The ALAB collection strain Lb. plantarum A6, and the endogenous microflora provided by back slopping were more efficient in acidifying and partially hydrolysing starch in the MG slurry than Lb. plantarum 6.1, isolated from the traditional process in Burkina Faso. Large amounts of maltotriose and maltotetraose accumulated in slurry fermented by strain A6. No accumulation of maltose was observed, which could be an advantage to prevent the growth of microbial contaminants such as yeasts. Starch hydrolysis in the MG slurry inoculated with strain A6 or by back slopping enabled preparation of high-energy density gruels (84.7 ± 4.4 and 80.4 ± 23.8 kcal/100 g of gruel, respectively) of liquid consistency. However variability was higher with back slopping.