Thirty-nine (39) medium to long duration pigeonpea genotypes were evaluated for variability, heritability and genetic advance under rainfed condition at the International Crop Research Institute for the Semi-arid Tropics (ICRISAT), Patancheru, Telangana, India. The analysis of variance showed significant differences among the genotypes for all the characters studied, indicating that there is high variability among the genotypes. Grain yield (t/ha) has exhibited high genotypic and phenotypic coefficient of variation, thus indicates that this character is governed by genetic factors and possible improvement through selection. Whereas, plant height at maturity, number of primary branches plant-1, number of secondary branches plant-1, number of pods plant-1 and 100 seed weight plant-1 obtained moderate estimates in both levels. This may mean that there is a scope of improvement in these characters. High heritability combined with high genetic advance as per of mean was obtained in days to 50% flowering, plant height at maturity, number of primary branches, number of secondary branches, number of pods, 100 seed weight and grain yield (t/ha), thus indicates that the heritability was due to additive effects and selection will be promising.