Sorghum is a water-efficient crop and an important cereal in semiarid and arid environments where water availability limits production. Providing farmers with sorghum genotypes with specific agro-morphological characteristics of high double production (grains and biomass) would help to maintain or obtain high yields in these environments. The SAMARA model was used to define dual-purpose sorghum ideotypes for different target environments. Model calibration and evaluation were carried out with experimental data collected in Nioro du Rip in 2015 and Sinthiou Malem from 2013 to 2016 on 10 contrasting sorghum genotypes. Daily weather conditions from 1950 to 2016 were used for the simulations. Also considered were the different environmental (soil and climate) conditions of Bambey, Nioro du Rip, and Sinthiou Malem (Senegal). Simulations for the identification of optimal genotypic parameters in these target environments highlighted three ideotypes showing performances for a dual-purpose (grain and fodder) production superior to the reference genotype Nieleni. This was thanks to their strong capacity to colonize the soil (long roots) and to maintain green leaves (stay-green) throughout the cycle. Hence, long roots and staygreen trait should be strongly considered while selecting or developing dualpurpose genotypes of sorghum for the target environments, especially in less-watered areas like Bambey.