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The consumption of vegetable milk as a substitute for cow’s milk has increased in recent years. Of all the vegetable beverages on the market, soy is the most widely consumed. Soy is exposed to contamination by different chemical elements during harvesting. In this study, the concentration of fluoride in soy beverages was analyzed. Fluoride is an element that in high concentrations can be toxic, causing dental and bone fluorosis. The aims of the study were (i) to analyze the fluoride concentration in 30 samples in the most popular brands (A-Brand, B-Brand, C-Brand) of soybean beverages by a fluoride ion selective potentiometer and (ii) to evaluate the toxicological risk derived from its consumption. The fluoride concentrations were 15.5 mg/L (A-Brand), 11.3 mg/L (B-Brand) and 8.5 mg/L (C-Brand). A consumption of 1 to 3 servings/day was established. One serving (200 mL) of soybean beverage offered a contribution percentage over the ADI (acceptable daily intake) for infants and children. Teenagers and adults did not exceed the ADI (10 mg/day). The consumption of soy beverages contributes significantly to the daily intake of fluoride, which could exceed the ADI with a consequent health risk. It is recommended to control the fluoride levels in the raw material and in the final product to assure the safety of these products.