Camels are known for their ability to produce milk, in comparison to other species of Camelidae. Milk production from camels is mainly practiced in pastoral migratory systems, but semi-intensive and intensive camel dairy farming is increasing in many countries. Dairy camels can be classified into three groups, high, medium, and low, based on their milk production. Only the high and medium milk-producing camels can be considered as true dairy camel types, but selection of the animals for dairy production is still uncommon despite increased knowledge of camel genetics. Lactation length varies from 6 to 18 months. Socioeconomic constraints, longer inter-calving intervals than cattle, and hand milking hinder progress in improving milk production. Camel milk production from intensive systems has started to become a reality and has shown promising results. The peak of lactation in camels tends to decline more steeply than in dairy cows; nevertheless, camels are much better providers of high-quality protein than cows, sheep, and goats to the people living in the arid and semiarid areas. The gross composition of camel milk is close to that of cattle and goat milk, but differences were described in the fatty acids, vitamins and type of proteins. Camel milk is generally opaque white and low in carotene. Infection by bacterial or mycotic pathogens is the main cause of mastitis. Camel milk has a sweet and sharp taste, but sometimes can also be salty. Most of the camel milk is consumed fresh or in fermented forms. However, surplus milk can be processed into cheese or powder. The health benefits attributed to this milk are important drivers for the development of a camel milk sector worldwide.