The purpose of this study was to develop non wheat millet pasta. Box Benhken Design (BBD) under Response Surface Methodology (RSM) was used to find the better composition by considering cooking quality parameter such as cooking time, solid gruel loss, volume expansion and bulk density. Pasta was prepared using tapioca flour, foxtail millet flour and barnyard millet flour, corn flour, water and salt. The corn flour and the salt quantities were kept constant and the remaining flours varied. The dough prepared manually and extruded using cold extruder followed by it was steamed at 80ºC for 10 min and dried at hot air oven at 60ºC. Ingredients were optimized based on derringer’s desirability function. The optimized composition was found to be tapioca flour (50%), foxtail millet flour (24.6%) and barnyard millet flour (65.78 %), at this composition cooking time was 7.17 min, solid gruel loss was 6.198%, volume expansion was 6.99%, bulk density was 321.95kg/m3, carbohydrate was 71.5%, protein was 4.6% and fat was 1.1% with the desirability of 0.829.