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Background: In this study, the effects of sugar substitution with stevia on physicochemical and sensory properties of chocolate milk were investigated. Methods: Chocolate milk samples were formulated using sugar, stevia, and inulin at different concentrations. A total of 19 different samples were obtained, and their physicochemical and sensory properties were evaluated. Results: The replacement of sugar with stevia led to a decrease in pH value and an increase in acidity level. The viscosity of samples containing 50% stevia was not significantly different from that of the control sample (P<0.05). Formulations 2 [50% sucrose (3.5 g/100 g), 50% stevia (0.012g/100g), and inulin (0.03 g/100 g)] and formulation 12 [20.27% sucrose (1.4 g/100 g), 79.73% stevia (0.018 g/100 g), and inulin (0.01 g/100 g)] had the lowest energy level and highest acceptability. They were not significantly different from the control sample in terms of acidity and viscosity. Conclusion: Stevia can partially be used as a substitute for sucrose without a significant effect on physicochemical characteristics and sensory properties of chocolate milk.