AllMusic editor Jaime Sunao Ikeda remarked that the album "showcases the development of a great talent [...] It's when Kelis and her production team create tracks that best fit her voice and uniqueness that the end results are outstanding.

[16] NME called Kaleidoscope a "futuristic, visionary, multi-layered work of R&B, funk, soul and rap, furnished with an inspirational, psychedelic spirituality, rarely seen but desperately needed in these cynical times" and concluded: "Uplifting, magical, genre-bending music, if there’s a better debut album this year, bring it on.

"[11] Entertainment Weekly's Britt Robson found that the album "fleshes out her persona with petulant sass and roller-rink whimsy, pegging her romantic maturity halfway between Brandy and Mary J.

Plumbing retro styles is the easy resort of the hip-hop eclecticist, but somehow Kelis' background in jazz, gospel, rock and R&B; brings a deeply felt sonic futurism to her debut album [...] The Neptunes makes this interplanetary power-girl mix sound both danceably down-to-earth and shockingly new.

[24] In an interview with The Guardian in January 2020, Kelis stated that she never earned any money from sales of her first two albums, adding that she was "blatantly lied to and tricked" by the production team with whom she had signed, at the age of 19.