The consumption of locally available and affordable food with high nutritional properties is a recommended solution to prevalent undernutrition in low-income countries. The objective of this study was to investigate the nutritional and phytochemical profile of a traditional beverage made from roasted green or red roselle seeds. Proximate composition was determined using AOAC standard methods. Minerals and phytochemicals were quantified by atomic and molecular absorption spectrophotometry, respectively. The bioavailability of iron, zinc, and calcium was estimated using phytates/mineral molar ratios. A sensory analysis was conducted to evaluate the acceptability of the studied beverages, and their contribution to the Recommended Daily Intake of proteins, energy, iron, zinc, and calcium was also assessed. The beverage made from roasted green roselle seeds presented the highest content of proteins, fats, total fibres and energy, while the beverage made from roasted red roselle seeds was more concentrated in carbohydrates. Both beverages had similar contents of total phenols, oxalates, ascorbic acid but exhibited different phytates and carotenoids contents that were higher in the beverage made from roasted red roselle seeds. The mineral composition revealed higher contents of sodium, potassium, magnesium, phosphorus, zinc, and copper in the beverage made from roasted red roselle seeds, while iron and manganese were more concentrated in the beverage made from roasted green roselle seeds. A good bioavailability was observed for iron and zinc in the beverage made from roasted red roselle and green roselle seeds, respectively. An unfavourable calcium bioavailability was exhibited by both beverages. The consumption of 500 mL of the studied beverages, which were positively appreciated by the sensory test panel, could cover more than 100% of the Recommended Daily Intake of proteins, energy, zinc, and more than 50% of that of iron, for children up to 3 years old. The consumption of beverages made from roasted roselle seeds could be an efficient and affordable solution to undernutrition in low-income countries.