Demands for coffee substitutes have been rising due to the adverse health effect of caffeine and healthier lifestyle. Roasted okra seeds were reported to have similar sensory quality to coffee. This research aimed to utilize okra seeds as coffee substitute to lower caffeine content of coffee drinks. Dried okra seeds were roasted at five different temperatures (160, 180, 200, 220, and 240 °C). Physicochemical parameters (moisture content, yield, ash content, aqueous extract, caffeine content, pH, and color) and sensory quality (color, aroma, flavor, acidity, sweetness, balance, body, and aftertaste) of each treatment were determined and compared to commercial coffee (Arabica, Robusta, and Java Arabica). The okra seed coffee was acceptable with no caffeine, but with less intensity of characteristic coffee attributes. Okra seeds roasted at 160 °C was found to be the most similar to Java Arabica coffee, particularly in bitterness and sweetness.The most similar coffee and roasted okra seeds were made into black and milk coffee with five ratios (100:0, 75:25, 50:50, 25:75, and 0:100). Incorporation of okra seeds and milk reduced the intensity of coffee-like attributes (roasted and chocolate) and introduced new characteristics (milky and beany) to the beverage