Integrating ruminant livestock such as beef cattle (Bos taurus L.) to graze cover crops (CCs) could balance goals of short-term profitability and long-term environmental sustainability when CCs are grown in water-limited environments like the central Great Plains (CGP), USA. However, little information currently exists about the effects of CC grazing on soil properties in no-tillage (NT) dryland cropping systems, especially after multiple cycles of grazing. This study was conducted from 2018 to 2021 to evaluate the effects of beef cattle grazing CCs on residue return, soil bulk density (BD) and penetration resistance (PR), water stable aggregates (WSA) and wind-erodible fraction (WEF), as well as soil pH and nutrient concentrations on three producer fields in central and western Kansas. Across sites, CC biomass left as residue post-grazing was similar to pre-grazing and was 60 % of the ungrazed CCs (3704 kg ha−1) because of CC regrowth after the 30–40 day grazing period. Soil BD, PR, WSA, WEF, pH, particulate organic carbon, nitrate-nitrogen, and phosphorus concentration were not different between grazed and ungrazed CCs. However, soil organic carbon (SOC) stocks and potassium concentrations were greater with grazed CCs compared to ungrazed CCs possibly due to substantial CC residue retention following grazing coupled with manure and urine deposition. Regression and correlation analyses showed that increased SOC was associated with decreased soil BD and increased WSA, which suggests decreased soil erosion potential as well as possible improvements in water infiltration and underscores the importance of SOC for overall soil health in this water-limited environment. Based on these results, we conclude that grazing of CCs is a viable management option for producers to intensify NT dryland cropping systems to improve soil health and maintain or increase overall system profitability in the CGP. Longer (>3 years) grazing studies are needed, and results are likely to vary based on grazing animal stocking rate, categories, duration of grazing, and available CC biomass for grazing.