This study was carried out to compare the physicochemical characteristics and sensory qualities of Sikhye (Korean traditional rice beverage) prepared with foxtail millet, proso millet, and sorghum. The cultivated varieties were Setaria italica Beauv. cv. Samdamae (SDM) and Samdachal (SDC), Panicum miliaceum L. cv. Ibaekchal (IBC), Sorghum bicolor (L.) Moench cv. Nampungchal (NPC), Donganme (DAM), Oryza sativa cv. Ilpum (IP), and Baegokchal (BOC). The brix degrees of SDM, SDC, IBC, NPC, DAM, IP, and BOC Sikhye were 9.53, 8.63, 5.67, 7.57, 6.27, 12.50, and $12.27^{\circ}Bx$, respectively. There were no significant differences in pH (5.99~6.10) among the groups. The highest turbidity was 1.07 in DAM Sikhye. The L-value, a-value, and b-value were 30.85~41.11, -0.34~2.52, and 2.56~5.67, respectively. Total polyphenol contents of SDM, SDC, IBC, NPC, DAM, IP, and BOC Sikhye were 241.52, 213.69, 202.34, 258.25, 193.24, 160.81, and $170.31{\mu}g\;GAE/mL$, respectively. Total flavonoid contents of Sikhye were $19.21{\sim}54.30{\mu}g\;CE/mL$. The highest DPPH and ABTS radical scavenging activities were $16.85{\pm}0.39$ and $64.75{\pm}2.92mg\;TE/100mL$ in DAM Sikhye, respectively. Finally, the sensory evaluation results indicate that there were significant differences in appearance, aroma, and taste between the groups, and SDM Sikhye was similar with IP and BOC.