The need for partial or total substitution of animal protein sources by vegetable sources of high protein quality with good sensory acceptance is a promising alternative. The objective was to develop a hamburger with vegetable protein using a mixture design based on quinoa (Chenopodium quinoa Willd.), Peruvian Andean corn (Zea mays) and Andean lupine (Lupinus mutabilis Sweet). The design of these mixtures allowed obtaining eleven formulations, three of which were selected for complying with the amino acid intake for adults recommended by FAO. Then, a completely randomized design was applied to the selected samples plus a commercial product. Proximal composition was measured on a dry basis (protein, fat, carbohydrates, and ash), calculation of the Protein Digestibility Corrected Amino Acid Score (PDCAAS) and a sensory analysis was carried out using the Check-All-That-Apply (CATA) method with acceptability in 132 regular consumers of vegetarian products. Protein, fat, carbohydrate, and ash contents ranged from 18.5–24.5, 4.1–7.5, 65.4–72.1 and 2.8–5.9%, respectively. The use of Andean crops favored the protein content and the contribution of sulfur amino acids (SAA) and tryptophan from quinoa and lysine and threonine from lupin. The samples with Andean crops were described as easy to cut, soft, good, healthy, legume flavor, tasty and light brown, however the commercial sample was characterized as difficult to cut, hard, dark brown, uneven color, dry and grainy. The sample with 50% quinoa and 50% lupin was the most acceptable and reached a digestibility of 0.92. It complied with the lysine, threonine, and tryptophan intake, with the exception of SAA, according to the essential amino acid pattern proposed by the Food and Agriculture Organization of the United Nations.