Climate change, declining soil fertility, water scarcity and malnutrition are interconnected challenges confronting modern agriculture. Millet-based agroforestry systems offer a promising nature-based approach that can address these challenges simultaneously by combining nutrient-dense, climate-resilient cereal crops with trees. Millets are characterized by short duration, relatively low water requirements and tolerance to heat and moisture stress. Their cultivation can contribute to climate-change mitigation through biomass production, carbon fixation, root-derived carbon inputs and the return of crop residues to the soil. When integrated with trees, these benefits are strengthened because carbon is stored in both above- and below-ground biomass and in soil organic carbon pools. Agroforestry systems can also improve nutrient cycling, reduce erosion and enhance soil biological activity. From a nutritional perspective, millets are rich sources of dietary fibre, minerals, vitamins, essential amino acids and bioactive compounds, making them valuable for dietary diversification and nutritional security. Thus, millet-based agroforestry represents more than an alternative cropping system: it is a strategy for building resilient farms, healthier diets and more sustainable soils.