A no-tillage system (NT) is an alternative to replace soil management with intense soil tillage and degradation. Our objective was to evaluate the physical–hydric properties of soil under NT for four years after undergoing 13 years of minimum (4NTM) and conventional tillage (4NTC) with reference to continuous NT for 17 years (17NT). The soil bulk density, porosity, storage capacities of water and air, visual evaluation of soil structure (VESS), and saturated hydraulic conductivity were determined. The root dry biomass of soybean, maize, and palisade grass was also measured. NT during four years established after receiving 13 years of tillage did not significantly affect soil properties compared to 17NT, which means that four years of NT reached structural stability similar to continuous 17NT. The VESS scores were less sensitive to identifying soil compaction. Crops have no significative influence on soil properties, but the roots of maize seem to be less sensitive to soil compaction, which is important considering it is in a crop rotation system. The treatments (soil tillage and crop rotation) presented soil compaction below a 10 cm depth, and to our loamy textural class soil, a Bd > 1.60 Mg m−3 restricted soil aeration due to macroporosity < 0.10 m3 m−3.