Edible insects are a compelling alternative source of animal protein that holds potential for diversifying and enriching complementary foods with minerals and proteins. This study aimed at formulating, developing and characterizing nutrient- dense complementary flour (CF) containing edible cricket containing maize and roasted finger millet flours (CECF). In addition, the effect of extrusion was evaluated on nutritional, functional and microbiological properties. Analysis of variance (ANOVA) with multiple comparisons using Tukey’s HSD (honestly significant difference) test (α = 0.05) and T- test were used to determine the significance of differences. Edible cricket had significantly high protein, fat, chitin/fibre, energy, iron, zinc and phosphorus. Contrary, cereal flour had high total carbohydrates, manganese and calcium. Phytates were undetectable in roasted finger millets but tannins remained highest at 494.1 mg/ 100g. Extrusion of CECF significantly (p > 0.05) improved the energy ration and densities of protein, carbohydrate but decreased the energy content and fibre content and density. Extrusion reportedly eliminated the phytates and reduced tannins content to acceptable levels for infant foods. Iron content were increased (4.64–6.22 mg/ 100g), whereas Ca: P remained low at 0.35–0.36. Extruded and blended CECFs had poor foaming and emulsion properties. Extrusion improved swelling power, bulking density and water related properties as well as protein digestibility. Microbial quality of the CECF was influenced by the initial microbial load, cross contamination and pre-processing conditions. The study suggests inclusion of edible cricket, pre-processing of ingredients, extrusion and a possible final cooking of CECF as well as observing hygienic and sanitary conditions for a safe and nutrient dense infant food. Further research is needed on evaluating the acceptability and the impact of feeding CECF on children’s growth and development.