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Herbicides applied in PRE-emergence enables sustainable weed control. The objective of this study was to evaluate the control of gallant soldier (Galinsoga parviflora) with the residual herbicides oxyfluorfen, flumioxazin, and linuron in soils cultivated with garlic from two regions of Brazil: Rio Paranaíba-MG (Oxisol) and Curitibanos-SC (Ultisol). The efficiency of the herbicides was evaluated at the following doses: oxyfluorfen (0, 3, 6, 12, 24, 48, 96, 192, 384, and 768 g a.i. ha−1), flumioxazin (0, 2, 4, 6, 8, 15, 30, 40, 60, and 120 g a.i. ha−1), and linuron (0, 30, 40, 50, 100, 200, 400, 800, 1600, and 2430 g a.i. ha−1). The degree of damage on the 7th, 14th, and 21st day after emergence (DAE) and dry matter on the 21st day after emergence (DAE) were determined to evaluate the control (C80) and the growth reduction (GR80) of 80% of the plant, respectively, compared to the treatment without herbicide. Three herbicides were effective at the control of G. parviflora, with the C80 at 21 DAE on Ultisol being 81.82, 4.59, and 141.26 g a.i. ha−1, and a GR80 of 61, 8.3, and 151.3 g a.i. ha−1 for oxyfluorfen, flumioxazin, and linuron, respectively. On the other hand, on Oxisol (lower clay content and soil organic matter), the doses were lower, with the C80 at 21 DAE at 20.85, 3.50, and 118 g a.i. ha−1, and a GR80 of 54, 4.03, and 101.23 g a.i. ha−1, respectively. This weed showed higher control under flumioxazin compared to the other herbicides in both soils. The use of low doses of residual herbicides contributes to sustainable weed control in garlic growing in the field.