Aims: Pearl millet [Pennisetum glaucum (L.) R. Br.] open-pollinated varieties, which are the predominant cultivars, have never been systematically evaluated for adaptation to low-soil phosphorus (P), a major constraint on pearl millet production in West Africa (WA). Methods: We evaluated grain yield (GY), flowering time (FLO), harvest index (HI), and residual grain yields (RGY) of 102 open-pollinated varieties from WA under low-P (−P) and high-P (+P) field conditions in six environments of WA. In addition, PE-related traits of the varieties were evaluated at early growth stage in a pot experiment. Results: Significant genetic variation was observed for GY, FLO, HI and PE-related traits. P-efficient varieties had higher yield under −P conditions. Varietal performance under −P varied across environments depending on FLO, relative flowering delay under −P (FD) and RGY measured in the field. Low-P-susceptible varieties had higher FLO, lower HI than low-P-tolerant varieties. Response to direct selection under −P field conditions was 20.1 g m−2, whereas indirect selection response under +P was 16.3 g m−2. Conclusions: Selection under −P field conditions while taking into account seasonal variations for FLO, FD and PE is expected to be important for improving GY specifically targeting −P environments in WA.