Soil compaction in alfalfa fields has become increasingly severe due to the mechanization of animal husbandry and the increased use of heavy agricultural machinery. Perennial alfalfa land undergoes mechanical compaction several times during the planting period without mechanical tillage. The compacted soil structure may recover through moisture changes, freezing and thawing cycles, and plant growth, but the extent and rate of this recovery remain unknown. In this study, alfalfa plots with two different soil types (medium loam and sandy) in Gansu, China, were selected to address these issues. The areas of the plots were 120 m × 25 m and 80 m × 40 m, respectively. In the third year after sowing, three types of agricultural machinery with grounding pressures of 88 kPa, 69 kPa, and 48 kPa were used to compact the soil one, three, five, and seven times. The interval between replicates was 1 h. Each treatment had one plot of 10 m × 5 m, and the experiment was repeated 4 times, totaling 44 plots. Changes in soil bulk density, soil cone index, and saturated hydraulic conductivity were measured after 1, 4, 8, and 17 weeks, respectively. The results showed that the post-compaction soil bulk density and soil cone index largely influenced the recovery of the compacted soil. Recovery became problematic once the soil bulk density exceeded 1.5 g/cm3. The soil bulk density recovery rate varied across different soil layers, with the top layer recovering faster than more profound layers. The initial state could be restored when the change in post-compaction soil bulk density was minimal. Sandy soil recovered faster than medium-loam soil. The recovery of the soil cone index in each layer of medium-loam soil under lower compaction was more noticeable than that under severe compaction. However, with undergrounding pressures of 88 kPa and 69 kPa, the soil cone index could not fully recover after multiple compactions. The recovery of soil-saturated hydraulic conductivity in both soil types was slower and less pronounced. The recovery of soil-saturated hydraulic conductivity in medium-loam soil was slower than that in sandy loam. After 7 compactions and 17 weeks under a grounding pressure of 88 kPa, the saturated hydraulic conductivity remained below 20% of its initial value of 20 mm/h. In contrast, sandy soils recovered faster, reaching 60 mm/h within a week of each compaction event. This research is crucial for ensuring high and stable alfalfa yields and supporting sustainable agricultural practices.