Pearl millet (Pennisetum glaucum) is a major staple food crop in the drier parts of the old world, like Africa and India. Recently, its cultivation became more widespread in no tillage crop farming systems in central Brazil, but it is also being used for cultivation during the dry season in other areas in Brazil. An emerging problem for the wider adoption of this crop in Brazil is the damage caused by the rust Puccinia substriata. This fungal disease is among the worst limitations for this crop worldwide. The rust occurring in Brazil was initially identified as the P. substriata var. penicillariae, but little information on the taxonomy and life-cycle of this rust is available in Brazil. The life-cycle of this rust variety remains somewhat obscure and the connection between the telial stage on pearl millet and the aecial stage on Solanaceae has never been experimentally demonstrated. Natural infection and inoculations under controlled conditions allowed for a complete description of all stages of this rust and the elucidation of its life-cycle, confirming that Solanum aethiopicum and Solanum melongena are aecial hosts. This coincidence for the alternate host and the limited and ambiguous morphological basis for the distinction of the varieties penicillariae and indica support the view that they are synonyms. Var. indica should be regarded as a late synonym of var. penicillariae.