Minor millets are a group of small-grained cereals, extensively cultivated across the arid and semiarid parts of the world. These grains exhibit excellent agronomic traits and are highly nutritious. Minor millet grains are a good source of protein, dietary fibre, as well as micronutrients. These grains also house abundant phytochemicals including phenolic acids and flavonoids and phytosterols. Various processing methods including fermentation, soaking, germination, and malting enhance grain nutrient content and hence influence its bioavailability. Owing to their excellent nutritional and phytochemical composition, minor millets exhibit potential nutraceutical properties. Consumption of minor millet grains can mitigate micronutrient deficiencies and ameliorate diabetes. They also exhibit hypolipidaemic as well as prebiotic potential. Furthermore, minor millets exhibit several health-beneficial effects owing to the bioactivities of phenolic phytochemicals. More research on the health benefits and nutrient bioavailability of minor millets would pave way for optimal utilization of these grains ensuring sustainable nutrition.