Abstract Our objectives were to determine changes in colostrum yield and composition across the 36 hours post-calving and effects of late gestational nutrient restriction (NR) on these changes. Fall-calving, crossbred beef heifers (BW: 472 ± 33 [SD] kg; BCS: 5.4 ± 0.5) were individually fed 100% (control; CON; n = 13) or 70% (NR; n = 13) of NASEM metabolizable energy and metabolizable protein requirements for maintenance, growth, and pregnancy from d 160 of gestation to parturition. Calves were removed from dams immediately post-calving and pre-suckling. Colostrum was hand-milked from all quarters at 1, 12, 24, and 36 h to determine total colostrum volume and weight. Colostrum protein, triglycerides, and milk urea nitrogen (MUN) concentration were analyzed using colorimetric assays on a UV-visible light microplate reader. Data were analyzed using fixed effects of treatment, hour, treatment × hour (repeated measures); calf sex, maternal sire, and treatment initiation date were covariates. Colostrum yield was affected (P < 0.02) by the treatment × hour interaction. Colostrum volume and weight were 28% less (P ≤ 0.03) for NR than CON at 1 h. For both treatments, colostrum volume and weight decreased (P ≤ 0.04) from 1 to 12 h, before increasing (P ≤ 0.02) from 12 to 36 h. Triglyceride concentration was greater (P = 0.03) in NR than CON. Both triglyceride concentration and total protein decreased (P ≤ 0.01) from 1 to 24 h. Protein concentration decreased (P < 0.001) from 1 to 36 h. Total triglycerides and MUN decreased (P < 0.001) from 1 to 12 h, before total MUN increased (P < 0.001) from 12 to 36 h and total triglycerides increased (P = 0.004) from 24 to 36 h. In conclusion, nutrient restriction may only affect colostrum yield at 1 h, and colostrum nutrient content decreases dramatically after the first milking.