Consumers are more aware and demanding of healthy food options, besides being concerned with environment-friendly consumption. This paper aims to evaluate nutritional, technological, and sensory characteristics of legumes and their products’ quality and versatility, considering potential applications in new food options. Legumes are foods that have a recognized nutritional group since they have high protein and fiber content. However, their consumption is still somehow limited for some reasons: in some countries it is not easy to find all the species or cultivars, they need an organization and planning before preparation since they need soaking, and there is the presence of antinutritional factors. Due to the different functionalities of legume proteins, they can be applied to a variety of foods and for different purposes, as grains themselves, aquafaba, extracts, flours, brans, and textured proteins and sprouts. These products have been inserted as ingredients in infant food formulations, gluten-free foods, vegetarian diets, and in hybrid products to reduce food costs as well. Foods such as bread, cakes, cookies, meat analogues, and other baked or cooked products have been elaborated with nutritional, technological and sensory quality. Further development of formulations focused on improving the quality of legume-based products is necessary because of their potential and protein quality.