Milk is considered a complete food because all of the nutrients important to fulfill a newborn’s daily requirements are present, including vitamins and minerals, ensuring the correct growth rate. A large amount of global milk production is represented by cow, goat, and sheep milks; these species produce about 87% of the milk available all over the world. However, the milk obtained by minor dairy animal species is a basic food and an important family business in several parts of the world. Milk nutritional properties from a wide range of minor dairy animal species have not been totally determined. Hot temperatures and the lack of water and feed in some arid and semi-arid areas negatively affect dairy cows; in these countries, milk supply for local nomadic populations is provided by camels and dromedaries. The nutritional quality in the milk obtained from South American camelids has still not been completely investigated, the possibility of creating an economic resource for the people living in the Andean highlands must be evaluated.