Plant-based milk alternatives have become increasingly popular as a replacement for traditional dairy milk, largely due to rising consumer interest in healthier, environmentally friendly and allergen-free choices. These alternatives are produced from various plant sources, including grains (such as oat and rice), legumes (like soy and pea), nuts (including almond and cashew) seeds (such as flax and hemp), and pseudocereals (like quinoa and amaranth). Each type of plant-based milk presents unique nutritional benefits and bioactive compounds that may contribute to health advantages, including lower cholesterol levels, anti-inflammatory properties, better heart health and improved gut microbiome diversity. One major benefit of plant-based milk is its compatibility with individuals who are lactose intolerant or allergic to dairy, as well as those adhering to vegan or plant-based diets. Additionally, these alternatives generally have a smaller environmental impact than conventional dairy milk, requiring fewer natural resources like land and water while producing lower greenhouse gas emissions. However, the widespread acceptance of plant-based milks faces challenges. Many products do not match the protein content or essential micronutrients (such as calcium, vitamin D and vitamin B12) found in dairy milk, which often necessitate fortification to improve their nutritional profile. Furthermore, differences in taste, texture and mouth feel compared to traditional milk can influence consumer preferences. This review highlights on these aspects in detail. Future research should aim at refining formulations, enhancing nutrient absorption, and investigating new plant sources to improve both the functional attributes and sensory experiences of plant-based milks.