-The objective of this work was to evaluate the physical properties of a soil with a 'Tanzânia' grass (Megathyrsus maximus) pasture fertilized with mineral nitrogen or intercropped with the legume 'Campo Grande' (Stylosanthes spp.), and subjected to continuous grazing and variable stocking rate, in a three-year chronosequence. The treatments were: 'Tanzânia' grass and Stylosanthes; and 'Tanzânia' grass fertilized with 75, 150, and 225 kg ha -1 N per year. The experiment was carried out in an Oxisol, in a randomized complete block design with three replicates, in split plots divided according to time (first, second, and third experimental years). The following soil properties were assessed annually: soil bulk density, porosity in the soil macropore domain, soil water and air storage capacity, and soil penetration resistance. After three years, the highest animal stocking rate due to increased forage yield did not affect the soil physical conditions. The intercrop of 'Tanzânia' grass with the legume shows values of soil water and air storage capacity close to the ideal ones (0.66 and 0.34, respectively). After the second experimental year, there is a decrease in the penetration resistance values, which are inferior to the critical limit of 2,500 kPa. The intercropping of 'Tanzânia' grass with stylosanthes 'Campo Grande' can be a remarkable alternative for the maintenance and improvement of soil physical conditions.