Intensive confinement (IC) systems for dairying have become widespread during the last decades. However, potential advantages of alternative systems such as full-grazing (FG) or integrated dairy/cash-crop (IFG) systems with regards to better provision of ecosystem services are widely discussed. To investigate performance and environmental impacts, we compared four prevailing dairy systems using an on-farm research study. The farm types differed in their share of pasture access and quantity of resource inputs: (i) an IC with a high import of supplements and mineral fertilizers; (ii) a semi-confinement (SC) with daytime pasture access during summer and moderate import of supplementary feeds representing the base-line scenario; (iii) a FG based on grazed seeded grass-clover swards with no purchased N-fertilizers and low quantities of supplementary feeds; and (iv) an IFG comparable to FG but based on grass-clover leys integrated in a cash-crop rotation. Results revealed highest milk productivity (16 t energy-corrected-milk (ECM) ha−1) and farm-N-balance (230 kg N ha−1) in IC; however, the highest product carbon footprint (PCF; 1.2 CO2eq kg ECM−1) and highest N-footprint (13 g N kg ECM−1) were found in the baseline system SC. The FG and IFG revealed on average similar forage dry matter yields (10 – 11 t DM ha−1) at similar crude protein and net-energy-lactation ratios per kg DM-intake compared to the IC and SC. The PCF in FG were comparable to IC (0.9 vs. 1.1 kg CO2eq kg ECM−1) but at a lower N-footprint (9 vs. 12 g N kg ECM−1). However, despite low measured N-losses in the FG system, the farm-N-surplus was exceeded by 90 kg N ha−1. A further reduction was only possible in the IFG (50 kg N ha−1) by accounting for a potential N-carry-over from N-rich plant residues to the cash-crop unit, leading to the lowest PCF (0.6 kg CO2eq kg ECM−1) for the IFG, with still moderate milk yield levels (~10,500 kg ECM ha−1). According to this bottom-up approach based on field data, improved integrated grazing systems could provide an important opportunity to increase the ecosystem services from dairy farming, operating with land use efficiencies similar to IC.