Sustainability describes how a system remains diverse and productive; this is the potential for long-term maintenance of well-being having ecological, economic, political, and cultural dimensions. Education for sustainable development (ESD) emphasizes on including the key sustainable development issues into teaching and learning, that is, climate change, disaster risk reduction, biodiversity, poverty reduction, and sustainable consumption. This effort requires effective pedagogy to ensure a participatory teaching and learning method that will motivate and empower future leaders to ensure sustainability in their social systems. Malaysia has incorporated the principles of Agenda 21 as one of the important sustainable development documents into its national planning process. However, the effectiveness of these teaching–learning programs, and their effective pedagogical approaches and endpoints are not satisfactorily ensured. Therefore, at first, this article reviews the existing various programs and research activities of public and private higher educational institutions in Malaysia that address sustainability. It then discusses the pedagogical approaches of these programs and how they are related to the key concept of the ESD. Finally, some conclusions and recommendations have been suggested to improve the initiatives to develop a scientifically sound and effective pedagogy for the ESD programs in higher education systems in Malaysia.