SummaryDeveloping health‐oriented novel products (e.g. no sugar added for diabetes and lactose‐free for lactose intolerance) supports diverse consumer needs, promotes healthier eating habits and fosters inclusivity in the food sector. This study aimed to develop a Tigernut milk pudding (TNP), an alternative to dairy‐based pudding and assess its physicochemical and sensory attributes. TNP was formulated by incorporating hydrocolloids κ‐carrageenan (KC), konjac powder (KP) and corn starch (CS), then compared with a commercial milk pudding (CMP) and traditionally prepared raw cow milk pudding (RMP). The crude protein, fat, ash and moisture levels ranged from 5.62% to 8.04%, 5.25% to 7.03%, 2.81% to 3.98% and 68.71% to 74.76% respectively. Lightness (L*) ranged from 69.87 to 77.89, while a* ranged from 0.36 to 0.86 and b* ranged from 8.13 to 9.97. Syneresis ranged from 4.98% to 8.00%, slightly higher than RMP (4.98%) and CMP (4.87%), while pH levels ranged from 6.31 to 6.89, nearly acidic to neutral pH range. Total soluble solids ranged from 2.90 °Brix to 3.67 °Brix. The bacterial count was in the marginal range below 105 CFU g−1, with no presence of Salmonella spp. or E. coli. Total antioxidant properties showed total flavonoid and phenolics, ranging from 306.24 mg QE/100 g to 358.58 mg QE/100 g and 39.06 mg GAE/100 g to 54.81 mg GAE/100 g respectively. An overall organoleptic rate of 3.50 was attained with 0.25% KC, 0.50% KP and 2.50% CS, achieving a desired texture comparable to CMP. The novel study on using Tigernut milk in pudding explores its plant‐based, vegan‐friendly, lactose‐free attributes as a healthy dairy milk alternative. With desirable physicochemical properties, promising improved nutrition, potential health benefits and possible contribution to food security and enhanced resource efficiency, TNP could be considered for commercialisation.