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Integrated crop-livestock systems are being increasingly used to intensify food production and make it more sustainable. On the other hand, most studies have focused on extensive systems. This paper analyzed the effects of different managements on soil and plants in an intensive integrated system for milk production. An experiment of management systems was installed in southern Brazil, Rio Grande do Sul, on a Latossolo Vermelho (Oxisol), in 2015 to evaluate: rotational grazing of dairy cows in the winter; rotational grazing of dairy cows in winter followed by soil chiseling; and ungrazed area (control). Soil physical properties and yields of crops were evaluated. Trampling by dairy cows increased soil bulk density by 24 % (0.0-0.05 m), but did not influence yields of subsequent soybean or maize. Chiseling reduced the bulk density of the uppermost layer by 19 %, but did not affect the yields of subsequent crops. It was concluded that in years with abundant water, dairy cattle grazing in an integrated crop-livestock system in Southern Brazil compacts the soil surface, but does not compromise the soil physical processes related to the growth and development of subsequent crops.