Classification of food in Ayurveda comes under the Āhāra Varga category. Dhanya Varga is one of its subdivisions; it comprises cereals, pulses, and all types of long and small grains. Millets are defined as Kṣudra Dhanya in Ayurveda (in Sanskrit, Kṣudra means small or little, and Dhanya means grains or cereals). Since ancient times, they have been considered an integral part of the meal. This article provides a complete detail about millets, their historical importance, cultural significance, health benefits, along with classification as per the Ayurvedic perspective. It will cover the definitions, characteristic properties, and medicinal properties, especially emphasizing health benefits, indications, and contraindications as per the traditional Indian system. In Ayurveda, diet is an integral part of the treatment protocol for each disease. The article will include special recipes that have been practiced for centuries. Millets can be promoted in society for human consumption with the concept—“Millets: A precise prescription for optimal health.”