Soil density or compaction is one of the key variables that need to be specified for designed soil profiles as part of urban greening. Examples include land rehabilitation (mining), waste containment (phytocapping), stormwater infrastructure (bioretention basins) and green infrastructure (green roofs and street trees). This study investigates the impact of a range of specified soil densities on plant water use and root development. Native Australian plant species selected for the study include: the C4 and C3 grasses, Themeda triandra and Microlaena stipoides respectively; the Eucalyptus trees, E. camaldulensis and E. cladocalyx; and the nitrogen-fixing pioneer trees, Acacia mearnsii and Allocasuarina verticillata. The plants were established at four soil density (compaction) levels: 72, 77, 82, and 87 % MDD (maximum dry density) in tall cylinders with weekly plant water use measurement over 8 months. Root growth was analysed using WinRhizo image analysis. The experimental results were used to create generalisable models for root length density (RLD), root diameter and plant water use. The models for RLD and plant water use were parabolic in nature, revealing clear optimum ranges that could be used to guide soil density specification. Root diameter provided additional insight into the allocation of resources to root thickening above a threshold soil density of 87 % MDD, indicating plant allocation of resources towards penetrating highly compacted soils. There were correlations between plant water use and RLD that were moderate and significant, particularly for grasses. Notably, T. triandra had the greatest mean RLD, thickest roots and plant water use at 16.8cm/cm3, 0.18 mm and 10mm/week, respectively. Findings demonstrate that RLD and plant water use can be optimised together within practically achievable soil density specification ranges that are sensitive to the pitfalls of both excessively low and excessively high soil densities. Recommended soil density specification ranges include: 75–82 % MDD with plant performance within 5 % of optimum (considered excellent), 74–84 % MDD with plant performance within 10 % of optimum (considered good) and 73–85 % MDD with plant performance within 15 % of optimum (considered fair). Within these ranges, plant water use and root growth performance is well balanced with practical achievement of the soil density ranges. Due to the use of %MDD, the modelled results can be usefully generalised for any soil type. Implementation of these specifications for urban greening and phytocap projects will optimise plant growth, transpiration and hydrological function while maintaining root networks essential for establishing and maintaining resilient living infrastructure.