Millets are an essential crop for food that has considerably boosted the worldwide economy and has been recognized as one of the most essential grains for optimal health. Millets are a nutritious component of many people’s meals across the world. Millets are not only nutritious but also environmentally friendly and adaptable in cooking. However, the unique nutritional properties of millets, in addition to consumer health problems, have prompted food scientists and engineers to develop a wide range of food products and mechanize the process. Millets are being incorporated into modern packaged foods such snacks, ready-to-eat meals, and energy bars. Extrusion is a manufacturing method in which materials, usually in the form of powder or dough, are forced through a mold or die to form a continuous shape or product. The process is to shape the material with high pressure, heat, or both. Extrusion processing is a cutting-edge food processing method that is gaining popularity for cereals, snacks, packaged meals, and baby foods. Extrusion processing is a thermomechanical process used during the feeding operation in conjunction with several physiochemical and biochemical unit activities such as preprocessing, mixing, extrusion, cutting, drying, and packaging. Thus, the use of this type of extrusion technology using suitable machinery will undoubtedly improve the commercial productivity of millet-based extruded products. Thus, this chapter explores millet-based extrusion technology, including processing parameters, structural and nutritional changes, and health benefits.