This study was conducted to evaluate the yield and composition of milk from 30 indigenous South African goats of different genotypes, namely Nguni, Boer, and non-descript, reared under a free-ranging system. Milk yield and composition (milk fat, protein, lactose, solid non-fat, and minerals) from Nguni (10), Boer (10) and non-descript (10) goats were measured and analysed per week at each stage of lactation. Results showed that Nguni goats produced (1.2 ± 0.09, 1.3 ± 0.11 and 1.2 ± 0.07 L per day) more milk (p < 0.05) at early, mid-, and late stages of lactation than Boer (0.6 ± 0.10, 1.0 ± 0.17, and 0.6 ± 0.09 L per day) and non-descript (0.3 ± 0.10, 0.3 ± 0.12, and 0.3 ± 0.09 L per day) goats, respectively. The mean value of milk fat, protein, and lactose content from Nguni goats was 3.98, 3.54, and 5.31; Boer goats, 2.9, 3.59, and 5.04 and non-descript goats, 4.05, 3.39, and 5.02, respectively. There was a significant effect (p < 0.05) of genotypes on milk fat, milk magnesium, and sodium contents of Nguni, Boer, and non-descript goats. It could be concluded that Nguni goats produced more milk than Boer and non-descript goats, but the non-descript goat had a higher mean percentage of milk fat compared to Nguni and Boer goats.