Millets offer a climate-resilient and nutrition-rich alternative for enhancing rural livelihoods, yet their potential remains underutilized in semi-arid India. This study addresses the lack of empirical evidence on how millet-based interventions impact household livelihoods when aligned with farmers' existing asset-based farming practices. The study was conducted in the Sangareddy district of Telangana under the ICAR-Farmer First Programme. It applied a capital-based framework to assess changes across five types of livelihood capitals that were natural, social, physical, financial, and human. A sample of 100 millet-farming households was selected through a stratified random sampling method. The data were collected before and after interventions using semi-structured tools and analysed using an entropy-weighted livelihood index, paired t-tests, and Structural Equation Modeling (SEM). The overall livelihood index increased significantly from 1.80 to 3.97. Social and natural capitals recorded the highest gains, driven by improved extension access, crop diversification, and millet enterprise development. The SEM revealed that social and financial capital had the strongest influence on livelihood enhancement. Improved millet practices, including high-yielding varieties, intercropping, mechanization, and value addition, contributed to higher income, resilience, and well-being. The study concludes that combining appropriate technologies with asset-based interventions can effectively improve the livelihoods of dryland farmers. Participatory technology design, capital-based extension strategies, gender-responsive value chains, and composite livelihood monitoring tools require attention while formulating the policy framework. This study provides strong empirical evidence that millet-based interventions, aligned with the existing livelihood capitals of farmers, can serve as a powerful strategy for achieving sustainable, equitable, and resilient rural development in the semi-arid regions.