In this study, we define the cardinal temperatures and thermal time for germination and emergence of pigeonpea genotypes. Seeds of six genotypes were subjected to constant temperatures ranging between 5 and 50°C in petri dishes with filter paper (germination) and with media (emergence) were placed in a thermal gradient plate. A nonlinear bent-stick model fitted to the rate of development to germination and emergence resulted in parameters predicting cardinal temperatures including base (Tb), optimum (To), maximum (Tm), and thermal time. Estimated Tb for 50% germination and emergence were 8.4 and 10.8°C, respectively, with no significant differences between genotypes. Optimum temperatures were 33.8 and 37.9°C for germination and emergence, respectively, with genotypes differing significantly. Thermal time for 50% germination and emergence varied significantly among genotypes. The results suggest that genotypic responses to the temperature are typical for their tropical origin and hence their suitability for cropping in summer dominant rainfall regions insubtropical Australia.