The negative effect of soil erosion and soil compaction is well documented for the purpose of optimum rangeland functioning, while the impact of rangeland degradation on effective soil depth is seldom quantified. The aim of this study was to quantify the response of vegetation cover and soil properties, particularly effective soil depth and soil texture to rangeland degradation. Forty-one farms were sampled in the arid and semi-arid climate of South Africa. Within these farms, data was collected over a vegetation degradation gradient. Results showed a significant decline in relative basal cover (94% ± 15% to 39% ± 17%) and soil depth (90% ± 14% to 73% ± 24%) as rangeland degraded. Soil texture changes over the degradation gradients vary for different homogeneous vegetation types. Indications regarding the loss of a functioning rangeland ecosystem were also demonstrated, using objective long-term relations between rangeland conditions and grazing capacity. The study highlights the importance of sustainable rangeland management practices to reduce the loss in effective soil depth and to ensure the sustainable utilization of the rangeland ecosystem. These results can probably extrapolate to other arid and semi-arid rangelands worldwide.