Cover crops (CCs) are a promising strategy for maintaining and enhancing agroecosystem sustainability, yet CCs’ effects on the subsequent crop yield are highly variable. To quantitatively synthesize the effects of CCs on subsequent crop yield, a meta-analysis of 672 observations collected from 63 recent studies (2015 to 2021) in temperate climates was conducted. Legume CC species increased subsequent crop yield significantly more than grass (by 14%), nonlegume broadleaves (by 7%), and mixtures (by 2%). Incorporation of CC residue into soil increased crop yield by approx. 15% compared to leaving the CC residue on the soil surface. Relative to the no-CC control, the adoption of grass and legume CC species in non-organic vegetable cropping systems enhanced crop yield by 14% and 19%, respectively. Likewise, crop yield with legume CCs in coarse and medium textured soil, and under high precipitation conditions (>700 mm), was significantly greater than the no-CC control by 18%, 4%, and 11%, respectively. Cover crops significantly increased vegetable crop yields and decreased the silage corn yield; however, grain corn, soybean, and winter wheat yield did not decrease with CC. Adoption of CC in no-tillage and plow tillage systems contributed to an increase in crop yield compared to the no-CC control. Our meta-analysis highlights that crop yield response to CC might become more robust when pedo-climatic conditions and agronomic factors are considered.