Incorporating cover crops into farming systems represents a potential pathway to maintaining crop productivity and achieving multiple environmental benefits. However, how cover crops impact the succeeding crop yield remained a matter of debate. Therefore, this study aims to provide a comprehensive and global scale assessment of cover crop impacts on yield. We conducted a literature synthesis of cover crop studies (104 articles) to collect field-based yield data (1027 records) and used meta-analysis to quantify the impact of cover crops on subsequent main crop yields. Our results showed that cover cropping led to an overall moderate increase in main crop yield, amounting to 2.6%. Specifically, the utilization of leguminous cover crops, cultivation in coarse soil texture and dryland areas, and the implementation of longer cover cropping durations were found to be conducive scenarios to enhance crop yields. Conversely, the use of non-legume cover crops, introducing them to fields under a short-term no-till, especially in fine-textured soils, were impaired to yields. Leguminous cover crops showed the greatest potential for increasing yield (9.8%) particularly when paired with corn. Adopting leguminous cover crops without fertilizing main crops resulted in a 21.8% yield increase. Utilizing cover crops did not affect yield if the field had already under no-till practice. Introducing cover crops on coarser soils and in rainfed drylands can increase yield by 14.1% and 11.4%, respectively. In fine-textured soils, cover crop plus conventional tillage achieved 4.8% yield increase while cover crops plus no-tillage led to a 9.5% yield decrease instead. Consequently, our findings suggested the general yield profitability of cover crops, but substantial variations remain, which was primarily affected by availability of nitrogen and soil moisture. It is advisable to maximize the nitrogen-fixing capability of leguminous cover crops as a nitrogen source for main crops, replacing fertilizer. Particular attention should be paid, and additional management practices should be adopted when using cover crops plus no-tillage in fine-textured soils to avoid yield penalties. These specific supportive measures are suggested to shorten the lag period of yield increase within the initial 1–3 years of cover cropping implementation. Our synthesis quantified the overall cover crop impacts on yield, showcasing variable yield returns across different scenarios. This holistic understanding and comprehensive information can serve to advance the appropriate and targeted adoption of cover crops by policymakers, extension services, and farmers.