The physiological stage of mango maturity at harvest affects fruit quality at the time it is commercialized. The objective assessment of the mango maturity stage at harvest remains a challenge because of the multiple interactions between the visual aspect, the physicochemical composition, and the morphology of the fruit. This study aims to quantify the optimal harvest date to guarantee the maturity and quality of mango cv. ‘Kent’. In this study, which took place in Korhogo in northern Côte d’Ivoire, the maturity stage and the quality of fruits were measured on 240 Kent mangoes harvested at four different harvest dates (90, 95, 100, and 105 days after flowering). A morphological, physical, and chemical characterization (length, width, mass, soluble sugar content, dry matter, skin appearance, and mass loss) was carried out at each date on 30 fruits at harvest and 30 fruits after ripening at room temperature. The number of days necessary for ripening was quantified. The results showed that the optimal harvest date is 100 days after flowering for Kent mangoes in Côte d’Ivoire. Mangoes harvested at this date developed better organoleptic characteristics (less wrinkled skin, lower mass losses, and a shorter ripening time). Assessment of the harvest date, guaranteeing better ripening of the fruit, is of utmost importance for organizing harvests in the mango sectors in West Africa, and especially in Côte d’Ivoire.