Tropical pastures intercropped with legumes have been gaining prominence for increasing the efficiency of livestock production systems when compared to pasture monocultures. Here, our objective was to understand the fermentation processes that tropical grass and legumes underwent when included in ruminant diets, which have previously been found to optimize animal performance while reducing the intensity of enteric CH4 emissions. For this purpose, three areas containing pigeon pea (Cajanus cajan) and Urochloa spp. were sampled. Samples were dried, grounded, chemically analyzed, and included in five proportions (0%, 25%, 50%, 75%, and 100%) of pigeon pea in the diet. The diets were then analyzed using an in vitro fermentation technique. Statistical analysis was performed using SAS statistical software, considering bottles as replicates, and our results suggest that a 25% inclusion of pigeon pea is optimal for balancing CH4 mitigation and fermentation efficiency, highlighting the importance of more studies with this legume due to its benefits, especially as a supplement during drought periods that impact the production and quality of tropical pastures. It is important to consider that pigeon pea’s secondary compounds may have positively modulated the fermentation process and reduced CH4 emissions. However, excessive legume inclusion can negatively affect digestibility and animal health, impairing animal performance and the sustainability of pasture-based production systems.