The presence of livestock inside protected areas, or "livestock encroachment," is a global conservation concern because livestock is broadly thought to negatively affect wildlife. The Maasai Mara National Reserve (MMNR), Kenya, exemplifies this tension as livestock is believed to have resulted in the declining wildlife populations, contributing to the strict and sometimes violent exclusion measures targeting Maasai pastoralists. However, research embedded in the real-world setting that draws insights from the social-ecological contexts is lacking. In this study, we conducted 19 mo of ecological monitoring covering 60 sites in MMNR and found that cattle presence inside the reserve did not significantly impact most co-occurring wild herbivores at the current intensity. Using the Hierarchical Modeling of Species Communities and Gaussian copula graphic models, we showed that cattle had no direct associations-neither negative nor positive-with nearly all wild herbivores despite frequently sharing the same space. Moreover, we did not detect resource degradation correlated with cattle presence near the MMNR boundary. Given the colonial legacy and land use history of Mara, entering MMNR becomes the only viable option for many herders. These results corroborate the emerging perspective that the ecological impacts of extensively herded livestock on wildlife might be more nuanced than previously thought. To effectively balance the needs of people, livestock, and wildlife, the current rigid livestock exclusion measures need to be reassessed to holistically consider herbivore ecology, local land use history, and modern politics of protected area management.