The aim of this study was to evaluate selected parameters of carcass and meat quality in 16-week-old pearl gray and lavender guinea fowl. The birds were raised in summer and fall, in an extensive system. Until 4 weeks of age, the birds were kept indoors, and from week 5 until slaughter they could use outdoor space enclosed by a fence, adjacent to the building. Guinea fowl were fed complete chicken diets: starter (weeks 0–6), grower (weeks 7–12), and finisher (weeks >13). In comparison with lavender guinea fowl, pearl gray birds had higher live weight at slaughter (p = 0.001) and higher carcass weight (p = 0.001). Females, compared with males, had a higher carcass dressing percentage (p ˂ 0.001), lower liver weight (p = 0.008), lower heart weight (p ˂ 0.001), and lower total weight of giblets (p = 0.004). The leg muscles of pearl gray guinea fowl, compared with those of lavender birds, had a higher content of dry matter (p ≤ 0.029). The breast muscles (p ˂ 0.001) and leg muscles (p = 0.017) of lavender guinea fowl contained less fat than the muscles of pearl gray birds. The breast muscles of females had a higher content of dry matter (p = 0.044) and ash (p = 0.016), and lower total collagen content (p = 0.028) than the breast muscles of males. The leg muscles of females were characterized by a higher pH (p ˂ 0.001), and lower cooking loss (p = 0.004) and drip loss (p = 0.005) than the breast muscles of males. The breast muscles of lavender guinea fowl, compared with those of pearl gray birds, were characterized by a higher chroma value (p ˂ 0.001), and a higher contribution of redness (p ˂ 0.001) and yellowness (p = 0.002), and their leg muscles were lighter in color (p ˂ 0.001), with a higher contribution of yellowness (p = 0.041) and a higher hue angle (p = 0.037). The value of chroma (p = 0.004) and the contribution of yellowness (p = 0.002) were higher in the breast muscles of females, compared with males. Neither variety nor sex affected (p > 0.05) the evaluated sensory properties of guinea fowl meat or the proportions of total SFAs, total UFAs, total MUFAs, and total PUFAs in the intramuscular fat (IMF) of breast and leg muscles. Meat from guinea fowl of both analyzed varieties can be an excellent alternative to more popular types of poultry meat due to its high nutritional value and eating quality.