This study explored the acceptability of pearl millet grain in rural Eastern Kenya. Ninety seven households accepted to plant pearl millet. These were the 37 who were part of the study and other 60 who were not part of the study. When requested to barter 2 kg pearl millet with maize, 33 (85%) out of 39bartered with maize, 2 (5%) with sorghum, 2 (5%) with chicken and 2 (5%) with money. The average score for skill attainment was 88% with 92.5% mothers readily gaining the skill to prepare and incorporate pearl millet into the daily diet of children. Children liked pearl millet when given with a low of 77.8% and a high of 93.2%. These findings suggest that policies or programs to promote cultivation, bartering, and consumption of pearl millet grain could be well acceptable in rural Eastern Kenya which could add to the nutritional content of local diets.