The beneficial health effects of prebiotics have been demonstrated in numerous research papers. However, their incorporation into daily food remains unfamiliar to consumers. This work evaluates the effects of the addition of resistant maltodextrin (RMD) on the sensory attributes of pasteurised orange juice, together with the physico-chemical properties and the aromatic profile. RMD addition increased the sweetness and decreased the acidity and bitterness, resulting in a higher overall panellists’ rating of orange juice. It also proportionally increased °Brix together with density and decreased acidity. Colour changes were registered with higher RMD concentrations. Orange pulp presence affected the volume particle size distribution analysis, while RMD addition did not have any effect. The aroma volatile compounds were also analysed. Pulp-added samples showed a higher quantity of alcohol and aldehydes, whereas pulp-free samples registered higher terpene and terpenoid values. Ketones and acids were also quantified. RMD had a moderate impact on volatile compound quantifications, with the orange pulp presence playing a much more decisive role. A correspondence analysis was also performed to relate instrumental and sensory determinations for all samples. This work proves that the addition of RMD to orange juice is technologically feasible while also achieving a good response at the sensory level.