This study investigated the effects of dietary replacement of grass silage (GS) with forage millet silages that were harvested at 2 stages of maturity [i.e., vegetative stage and dough to ripe seed (mature) stage] on milk production, apparent total-tract digestibility, and ruminal fermentation characteristics of dairy cows. Fifteen lactating Holstein cows were used in a replicated 3 × 3 Latin square experiment and fed (ad libitum) a total mixed ration (60:40 forage:concentrate ratio). Dietary treatments included control (GS), vegetative millet silage (EM), and mature millet silage (MM) diets. Experimental silages comprised 24% of dietary dry matter (DM). Soybean meal and slow-release urea were added in millet diets to balance for crude protein (CP). Three additional ruminally fistulated cows were used to determine the effect of treatments on ruminal fermentation and total-tract nutrient utilization. Cows fed the GS diet consumed more DM (22.9 vs. 21.7 ± 1.02 kg/d) and CP (3.3 vs. 3.1 ± 0.19 kg/d), and similar starch (4.9 ± 0.39 kg/d) and neutral detergent fiber (NDF; 8.0 ± 0.27 kg/d) compared with cows fed the MM diet. Replacing the EM diet with the MM diet did not affect DM, NDF, or CP intakes. Cows fed the MM diet produced less milk (26.1 vs. 29.1 ± 0.79 kg/d), energy-corrected milk (28.0 vs.30.5 ± 0.92 kg/d), and 4% fat-corrected milk (26.5 vs. 28.3 ± 0.92 kg/d) yields than cows fed the GS diet. However, cows fed diets with EM and GS produced similar yields of milk, energy-corrected milk, and 4% fat-corrected milk. Feed efficiency (milk yield:DM intake) was greater only for cows fed the GS diet than those fed the MM diet. Milk protein yield and concentration were greater among cows fed the GS diet compared with those fed the EM or MM diets. Milk fat and lactose concentrations were not influenced by diet. However, milk urea N was lower for cows fed the GS diet than for those fed the MM diet. Ruminal NH3-N was greater for cows fed the EM diet than for those fed the GS diet. Total-tract-digestibility of DM (average = 66.1 ± 3.3%), NDF (average = 55.1 ± 2.4%), CP (average = 63.6 ± 4.2%), and gross energy (average = 64.5 ± 2.6%) were not influenced by experimental diets. We concluded that cows fed GS and EM diets had comparable performance, whereas milk yield was significantly reduced with the MM diet, likely because reduced intakes of DM and net energy for lactation.