In response to the increasing demand for nutritionally rich foods, consumer preference for protein-enriched beverages has grown. However, heat-induced protein aggregation and gelation significantly hinders the production of high-protein drinks. In this study, oil-in-water (O/W) emulsions with exceptional thermal stability were formulated using modified soy protein particles (MSPs). These MSPs effectively resisted gel formation, even at a protein concentration of up to 20% (w/v). In contrast, emulsions prepared with untreated soy proteins (SPs) experienced pronounced gelation under identical conditions. The compact structure of MSPs, in comparison to SPs, imparted resistance to heat-induced denaturation and aggregation. Additionally, the emulsion displayed heightened heat processing insensitivity, due to the enhanced hydrophobicity of MSPs and their rapid adsorption at the oil-water interface, resulting in a denser, more elastic, and resilient interfacial film. These findings provide practical insights for the formulation of protein-rich milk alternatives, meeting the evolving market demands.