In the human food industry, the wheat-free market sales have increased over the years due to awareness of wheat gluten allergy and celiac disease. Sorghum is a gluten-free grain with great potential to address shortcomings in this market. The aim of this study was to evaluate the milling process and flour quality of one white and one red sorghum varieties and evaluate extrusion as a potential process to produce sorghum crisps. The white and red sorghum grains were milled into flour in three production cycles. Flour quality was evaluated by determination of nutritional composition, pasting, and thermal profile. Extrusion processing of white and red sorghum flour was performed, and macrostructure of final product was evaluated. The white and red sorghum used in this study yielded similar flour content (P > 0.05). Chemical analyses revealed a higher protein and lower starch content for white sorghum than red sorghum flour (P < 0.05); however, their pasting properties did not differ. Initial and peak gelatinization temperatures were higher (P < 0.05) for red sorghum compared to white sorghum flour. Regarding particle size, white sorghum flour presented lower d10 and d50 compared to the red sorghum flour (P < 0.05). However, these differences did not impact the extrusion conditions, and white and red sorghum crisps had similar macrostructure characteristics. In conclusion, although differences in nutritional, thermal, and particle size properties were observed between the sorghum flours used in this study, changes in extrusion parameters were not needed in order to produce sorghum crisps with similar characteristics.