The present study aims to describe colloidal and acid gelling properties of mixed suspensions of pea and milk proteins. Mixed protein suspensions were prepared by adding pea protein isolate to rehydrated skimmed milk (3% w/w protein) to generate four mixed samples at 5, 7, 9, and 11% w/w total protein. Skimmed milk powder was also used to prepare four pure milk samples at the same protein concentrations. The samples were analyzed in regard to their pH, viscosity, color, percentage of sedimentable material, heat and ethanol stabilities, and acid gelling properties. Mixed suspensions were darker and presented higher pH, viscosity, and percentage of sedimentable material than milk samples. Heat and ethanol stabilities were similar for both systems and were reduced as a function of total protein concentration. Small oscillation rheology and induced syneresis data showed that the presence of pea proteins accelerated acid gel formation but weakened the final structure of the gels. In this context, the results found in the present work contributed to a better understanding of mixed dairy/plant protein functionalities and the development of new food products.