Three pigeonpea (Cajanus cajan L.) genotypes viz; ICPL 93086, Tanzania–7, and their hybrids were tested for whole plant regeneration in different combinations of growth regulators. There were significant differences among explants from leaf, shoot, and roots in calli formation. Genotype differences were also observed in callus formation. The largest percentage of calli was formed by leaf explants in all three genotypes. The best results for calli formation were obtained in medium containing 12.5 μl, 2,4-dicholorophenoxy acetic acid (2,4-D), 5.0 μl, Kinetin (KIN) 5.0 μl, 5.0 μl Napthaleneacetic acid (NAA) and 5.0 μl 6-Benzylaminopurine (BAP) per 100 ml of medium. No genotype or explant differences were recorded in shoot and root regeneration from calli formed from either type of explants in any three genotypes. However, effect of medium was noticed on shoot and root regeneration from explant calli. The best combination for shoot regeneration was 4.0 μl KIN, 0.4 μl IAA and 3.0 μl BAP per 100 ml of media. The best rooting medium was found to be that containing 0.6 μl indole – 3 acetic acid (IAA), o.6 μl 6-(yy-dimethylallylamino) Purine (2IP), 5.0 μl Gibberrellic acid (GA3) and 5.0 μl BAP per 100 ml. This study clearly showed that whole plants can be regenerated from any type of explant source but leaf explants were most suitable for callus formation. Genotype differences and various media also affect regeneration efficiency of the explants’ callus. Positive heterosis was recorded for calli formation from all explant sources in the hybrids.