Sorghum production in semi-arid areas of Zimbabwe is constrained by low and erratic rainfall, low fertility and soil moisture stress. Sorghum grain yields ranges from 0.2 to 0.4 t ha−1 in sandy-to-sandy loam soils respectively. The objective of the study was to assess cattle manure and rainwater harvesting techniques in improving sorghum grain yield in a semi-arid region of Zimbabwe. The experiment used a randomised complete block design with rainwater harvesting technique as a main treatment factor at three levels. Sub-plot factor was cattle manure at five levels (0, 2.5, 5, 10 and 15 t ha−1) and two sorghum varieties (Macia and SV1) as sub-sub plot factor. Sorghum grain yields were improved significantly (p < 0.05) for both varieties using tied contours. Increasing application rates of cattle manure, showed significant increase (p < 0.05) in sorghum grain yield over the control (0 t ha−1). Tied contour had higher grain yield (1.15 t ha−1) with the use of Macia variety. Stover yield was highly influenced by rainwater harvesting method of tied contour (p < 0.05) compared with infiltration pit and standard contour. Increase in application levels of cattle manure show significant (p < 0.05) increase in stover yields. Tied contour had the highest (3.11 kg ha−1 mm−1) rainwater use efficiency which show significant differences (p < 0.05) from infiltration pits and standard contour. Interaction of tied contour and different rates of cattle manure showed significant increments in rainwater use efficiency with increases in manure application rates. Tied contours, 15 t ha−1 cattle manure and Macia variety are potential strategy to achieve climate smart agriculture and improve food security in semi-arid areas. Sorghum production in marginalised areas can be productive with adoption of tested techniques.