The biggest threat to cattle production in most South African communal areas is poor management of grazing, which negatively affects vegetation and soil structures. This study was conducted to assess the spatial variation of grass species density, production potential and quality in Breyten (Hutton soil type), Davel (Avalon soil type), and Wesselton (Clovelly soil type) communal rangelands in the highveld region of Mpumalanga province. Three 100 m transects per grazing area, placed at 50 m intervals (0, 50, and 100 m) were used to collect soil samples at 200 mm depth. A 100 m permanent line point method, replicated three times (50 m apart) per site, was used to identify and collect grass species samples. Grass species were classified according to life form, palatability, ecological status, and abundance. Grasses species were also harvested for chemical composition and in vitro ruminal dry matter degradability determination. Soils from the study areas had an acidic pH range (3.5–4.5). Hutton soil had the highest (p < 0.05) nitrate (N-NO3) concentration (0.770 mg/kg) compared to Clovelly (0.030 mg/kg) and Avalon (0.533 mg/kg) soil types. Thirty-one grass species composed of 28 turf perennials, two weak perennials and one perennial creeping grass were identified across the study areas. About 16% of identified grass species were classified as highly palatable, 39% as moderately palatable, and 32% as unpalatable. Across all the soil types, Digitaria eriantha had the highest (p < 0.05) crude protein (CP) (106.5 g/kg DM) content when compared to other grass species. In the Avalon soil type, D. eriantha had the lowest (p < 0.05) neutral detergent fiber (NDF) (696.4 g/kg DM). Across all soils, D. eriantha, Aristida congesta, Eragrostis curvula, Eragrostis gummiflua, and Eragrostis plana grasses had the same (p > 0.05) 48-h in vitro ruminal dry matter degradability Hutton soil had a higher proportion of common and dominant grass species as well as more palatable species with higher crude protein content than Avalon and Clovelly soils. However, for all three rangelands, there is a need for supplementary feeding to enhance the production efficiency of livestock given that the nutritive value of grasses was low.