This study assessed the dry matter yield, mineral and proximate composition of Panicum maximum Jacq var. Ntchisi planted with Lablab purpureus (Lablab), Centrosema pubescens (Centro), Aeschynomene histrix (A. histrix) and Stylosanthes guianensis (Stylo) in a 3 x 5 factorial experiment using Randomized Complete Block Design in early, mid and late rainy season. The dry matter yields (DMY) of panicum sown with Lablab (11.82 t/ha/yr) was significantly higher (P<0.05) than that observed for other mixtures. The least DMY of 9.46 t/ha/yr was observed for panicum in panicum/ A. histrix mixture. The yields recorded for Stylo and Lablab were highest in mid and late rainy seasons than in the early rain. Panicum sown with Lablab had the highest DM (37.71g/100g DM), Crude protein (CP) (11.36g/100g DM), ether extracts (7.20g/100g DM) and ash content (2.52g/100g DM). Among the legumes, Lablab had the highest CP (23.29 g/100g DM), crude fibre (10.61 g/100g DM) and ash content (3.96 g/100g DM). However, Centro was highest in ether extract (9.30g/100g DM). Panicum sown with Lablab had higher concentration of sodium (Na) and iron (Fe) while panicum planted with Stylo had highest concentration of phosphorus (P). The concentration of calcium (Ca) was similar (P>0.05) among the mixtures but differed (P<0.05) in the legumes. Stylo had the highest Ca concentration (0.72%) whereas highest P and Fe values were observed in Lablab. In conclusion, panicum harvested from panicum/lablab mixture had the highest DMY, CP, EE and ash content of grass in early, mid and late rainy season than the other mixtures.