Sorghum is a cereal containing many bioactive compounds; however, its use for the human diet requires the development of products that attend the consumer's needs and preferences. Six sorghum genotypes of different colors were analyzed to develop a new beverage. The whole grains were analyzed for their chemical composition, condensed tannins (CT), total phenolic compounds (TPC), antioxidant capacity (AC) and resistant starch (RS). After grinding they were and processed by thermoplastic extrusion to develop a soluble beverage and their wettability, dispersibility, bulk and absolute density were evaluated. Sorghum is poorly used directly in the human diet; therefore, consumer perception of sorghum was investigated, as well as the sensory characterization of the beverages. Brown sorghum presented the highest CT, TPC, AC and RS. Powder from red sorghum presented the highest wettability and sensory acceptance, whereas, powder from white sorghum had the lowest absolute density, wettability, dispersibility and sensory acceptance. Additionally, sensory acceptance presented positive Pearson's correlation with good rehydration characteristics, and the residual bitter taste was directly correlated with AC. Finally, people with food restrictions (i.e. intolerances, allergies, veganism among others) considered sorghum as an alternative food, although they do not know this cereal. The unfamiliarity, the chemical properties and solubility properties all affected the sensory acceptance.