Foxtail millet, a high-quality coarse cereal, is generally used to cook porridge. Cooked foxtail millet is another food product of this cereal. However, a systematic evaluation method for the eating quality of cooked foxtail millet has not yet been established. In this study, heater type, millet-to-water mass ratio, water type, and soaking time affecting the edible quality of cooked foxtail millet (Variety: Zhangzagu 13) were investigated. The hardness viscometer, colorimeter and sensory evaluation were used to comprehensively evaluate the edible quality of millet. The optimal cooking method was determined as follows: Firstly, put 300 g of millet in an electric cooker and wash twice with deionized water quickly. Secondly, add deionized water in a mass ratio of millet to water 1.0∶2.0 and soak for 30 min. Finally, cook millet for about 45 minutes in the essence rice mode. After cooking, stir well and stew for 20 min. This research provides an important scientific basis for foxtail millet cooking and edible quality evaluation.