Millets are widely recognised for their resilience to high temperatures, drought and poor soil fertility, making them key components of climate-resilient agriculture. Small millets, in particular, can withstand prolonged dry spells and are predominantly cultivated under rainfed conditions. Intercropping millets with pulse crops is considered advantageous as it promotes efficient utilisation of available resources, improves soil fertility and enhances fertiliser use efficiency. Millet-pulse systems offer complementary benefits, where millets require fewer external inputs while legumes enrich the soil through biological nitrogen (N) fixation. Small millets require minimal irrigation and generally complete their life cycle within 105–120 days. Compared with many oilseeds and pulse crops, they are more efficient in nutrient uptake from the soil. In this context, the present study was undertaken to assess the production performance and energy dynamics of small millets when intercropped with legumes. Field experiments were conducted during the rabi seasons of 2021–22 and 2022–23 at the Agricultural College and Research Institute, Vazhavachanur. Finger millet was intercropped in combination with black gram (Vigna mungo L. Hepper) and red gram (Cajanus cajan L. Millsp.) under irrigated conditions using different row ratios across 7 treatments, each replicated three times. The results revealed that the finger millet-black gram intercropping system in a 4 : 1 row ratio performed significantly better throughout the crop growth period. This treatment recorded higher total dry matter production and demonstrated higher canopy efficiency, crop growth rate and more effective utilisation of solar radiation during the growing season. In addition, it resulted in a higher grain yield (3055 kg ha-1) and greater economic returns compared with other treatments. In contrast, red gram-based intercropping systems showed comparatively lower performance due to greater competition for resources. The study concludes that finger millet + black gram intercropping in a 4 : 1 row ratio is an effective system for improving productivity and profitability under irrigated conditions. Furthermore, millet-legume intercropping systems may contribute to sustainable agriculture and improve the livelihoods of small and marginal farmers.