In this study, a control system that automatically adjusts the working depth of the tractor tillage equipment has been developed in order to keep the wheel slip occurring in agricultural tractors during the tillage activities at the determined limit value. The developed automatic control system continuously measured the wheel slip on the tractor drive wheels and reduced the tillage depth adjusted for the wheel slip increase. While the amount of wheel sip was at the allowed level, the tillage equipment worked at the set depth value. In the study, a driver warning system is also designed to alert the driver to reduce the tillage depth when the amount of wheel slip exceeds the specified limit value. The driver warning system warns the driver visually with the help of colored LEDs and audibly with a buzzer according to the measured wheel slip value. The developed automatic control system was compared separately with the designed driver warning system and the operator's own control. The wheel slip value was calculated by comparing the forward speed of the tractor with the speed of the drive wheels. The automatic control system and driver warning system were installed on a New Holland TD110 agricultural tractor and trials were carried out in real field conditions. As a result of the trials, according to the driver warning system and operator control, it was determined that there was a 3-29% reduction in wheel slip and a 22-30% reduction in fuel consumption in soil tillage activities carried out with automatic control system. On the other hand, the draft force decreased by more than 5% compared to the operator control in the automatic control system. However, it was observed that there was almost no change in the average tillage depth between the control methods.