The study assessed the genetic diversity of pearl millet accessions grown in Nigeria and India based on morpho-agronomic traits in order to identify genotypes with superior characters which could be utilized in breeding programmes. Twenty-four pearl millet accessions were grown and evaluated for agronomic and morphological traits during the dry and wet seasons of 2015–2016. Data collected on the accessions using standard descriptors were analysed statistically. IP22281 had the highest mean plant height (108.90 cm) while NGB00531 recorded the lowest (61.02 cm). Significant intra-specific variation existed in number of leaves per plant, leaf length, leaf width, number of nodes and internode length, however, stem girth was similar for the accessions. Tillering was generally poor with the highest value (1.60 tillers per plant) found in NGB00531. A significant positive correlation occurred between plant height, number of leaves, leaf length and leaf width. Panicles emerged between 44 and 56 days and NGB00548 had the shortest maturity time. Also, panicle length and peduncle diameter varied significantly for the accessions. The highest grain yield and 1000-grain weight were recorded in NGB00616 and the lowest yield and weight were recorded in IP22269. The principal component analysis grouped the accessions into four clusters, comprising mixtures of Nigerian and Indian members. Similarly, the dendrogram grouped the accessions into two main groups which were sub-divided into smaller clusters with accessions from Nigeria and India in the same cluster. The study concludes that variations in morpho-agronomic and yield characters among the accessions studied could be harnessed for crop improvement. The clustering pattern of these accessions indicated their genetic relatedness, possibly from the same progenitor, but separation by geographical or ecological isolation mechanisms.