Background and ObjectivesProso millet is a traditional grain that can be divided into waxy and non‐waxy varieties based on amylose content. However, research on different varieties of cooked proso millet is limited, especially as a whole grain. This paper investigated the quality properties and aroma characterization of cooked non‐waxy proso millet (NPM) and waxy proso millet (WPM).FindingsScanning electron microscopy images showed tha cooked NPM exhibited a more compact structure, whereas cooked WPM displayed a porous structure. Cooked NPM presented higher water absorption ratio, expansion ratio, hardness, and better chewiness than cooked WPM. Correlation analysis indicated that the texture properties were positively correlated with the cooking characteristics as well as the amylose and protein contents. The resistant starch content of cooked NPM (35.97%) was higher than that of cooked WPM (28.85%). Aroma analysis revealed that cooked NPM and WPM contained 56 and 67 volatile substances, respectively.ConclusionCooked NPM and WPM exhibited different properties mainly attributed to the various amylose and protein contents.Significance and NoveltyThese findings may provide a theoretical basis for the processing and commercial development of the proso millet resource.This article is protected by copyright. All rights reserved.