Pearl millet [Pennisetum glaucum (L.) R. Br.] yields in Senegal are constrained by rainfall variability, persistent drought, and low soil fertility. Mungbean [Vigna radiata (L.) Wilczek], a short-duration and relatively drought-tolerant legume crop, is capable of improving soil fertility and productivity of associated crops. Our study evaluated the effects of pearl millet and mungbean intercropping on crop yields in the semi-arid regions of Senegal. Field experiments were conducted during the 2017 and 2018 growing seasons at Bambey and Nioro sites located within Senegal's west-central and Saloum agricultural regions, respectively. Experimental treatments: monocropped millet (T 1), monocropped mungbean (T 2 , 100%), and 23% (T 3), 43% (T 4), 47% (T 5), 62% (T 6), 125% (T 7), and 164% (T 8) of mungbean intercropped with millet were laid out in a randomized complete block design and replicated four times. In addition to yield, canopy cover and normalized difference vegetation index (NDVI) were measured and yield advantage was assessed with the land equivalent ratio (LER). Combined millet and mungbean seed yields were up to 60 and 85% higher under intercropping systems compared to millet monocropping at Bambey and Nioro, respectively. Similarly, LER was always greater than unity (> 1) under millet-mungbean intercropping compared to millet monocropping. Mean canopy cover estimates and NDVI values increased by up to 60 and 30% in millet-mungbean intercropping over millet grown alone, respectively. These combined yield gains obtained without fertilizer applications suggested that optimizing mungbean density (62-125%) in pearl millet-based systems can increase the combined yields in a low-input and/or high-risk environment in Senegal.