Research has shown that unrestricted grazing of croplands can have detrimental effects on soil health, but it is suggested that moderate grazing of cover crops (CC) may increase the beneficial characteristics of these species. While the few available studies suggest that grazing of CCs may not negatively affect soils and crop production, more research data are needed from different soil types, tillage systems, cropping systems, and climatic conditions. The objective of this study was to assess the three-year impact of grazing cereal rye CC on soil compaction, soil fertility, crop yields, and water management conditions.