Field experiment was conducted during kharif season 2015-16 atAgriculture Research Station Almel, Sindagi taluk of Vijayapur districtto study the performance of pigeonpea (Cajanus cajan L. Millsp.)based millets intercropping systems under rainfed conditions. Theresults indicated that sole pigeonpea (T6) recorded significanlty highergrain yield (1918 kg ha-1) than the other intercropped pigeonpea while,the lowest grain yield (1349 kg ha-1) was recorded in pigeonpea +finger millet (T2) intercorpping system. Higher pigeonpea equivalentyield (PEY) recorded in pigeonpea + foxtail millet (2752 kg ha-1) andit was on par with pigeonpea + proso millet (2739 kg ha-1) in 1:2 rowproportions while the lowest PEY was observed in pigeonpea + pearlmillet (2001 kg ha-1) in 1:2 row proportion. Significantly lower soilmoisture was recorded in pigeonpea + finger millet (8.99 cm, 9.40 cm,8.98 cm)) at 30,60,90 and 120 DAS, respectively and it was on parwith pigeonpea + foxtail millet (9.18 cm, 9.44 cm, 9.24 cm and 8.81cm) at 30, 60, 90 and 120 DAS, respectively compared to otherintercropping and sole cropping treatments. Singificantly higher drymatter Sccumulation in sole pigeonpea (126.24 g plant-1) comparedto other intercropped pigeonpea. Singificantly higher net returns(` 111457ha-1) and benefit cost ratio (B:C) (3.79) were recorded inpigeonpea + foxtail millet and it is on par with pigeonpea + prosomillet intercropping systems in 1:2 row proportions.