The Greek yogurt industry is facing challenges in terms of cost of disposal of by-product acid whey. Acid whey has health benefiting components for children and can be used in preparation of complementary food with underutilized millet species. The objective of this research was to study the effect of acid whey on the underutilized millet species (Kodo and Proso). In this study, a matrix of acid whey and millet powder was prepared ranging from 25% w/v to 100% w/v and was assessed in terms of physicochemical, antioxidant and antinutritional factors. Reduction in tannins contents were observed around 69.17% (kodo millet) and 82.8% (proso millet). For phytic acid, the decrease of 9.21% (kodo millet) was observed. Increase in total polyphenol content was observed suggesting that fermentation led to release of antioxidant and bioactive compounds, supporting that acid whey can be upcycled to develop value-added products. Novelty impact statement Acid whey generated from Greek yogurt manufacturing can be upcycled to develop value-added products by incorporating millets. Decrease in antinutritional factors, phytic acid, tannins and increase in total polyphenolic compounds were observed with millets + acid whey matrix. Analysis of functional properties indicated that mixing acid whey increased the bioavailability of the nutrients present in the millets.