This study examined beverage intake among families with low income by household participation in federal food assistance programs. This was a cross-sectional study conducted in fall/winter 2020 via an online survey. Participants were mothers of young children insured by Medicaid at the time of the child’s birth (N = 493). Mothers reported household federal food assistance program participation, later categorized as Supplementation Nutrition Program for Women, Infants, and Children (WIC) only, Supplemental Nutrition Assistance Program-Education (SNAP) only, both WIC and SNAP, and neither. Mothers reported beverage intake for themselves and their children aged 1-4 years. After accounting for sociodemographic differences between groups, mothers from households participating in WIC and SNAP consumed sugar-sweetened beverages and bottled water more frequently than mothers from households in neither program. Children from households participating in WIC and SNAP also consumed soda more frequently than children in either program. Few differences in intake were observed for mothers or children participating in only WIC or SNAP vs both programs or neither program. Households participating in both WIC and SNAP may benefit from additional policy and programmatic interventions to limit sugar-sweetened beverage intake and reduce spending on bottled water.