Bahiagrass (Paspalum notatum Flüggé) is the most utilized forage in Florida and requires N fertilization to optimize production. Integrating legumes into bahiagrass pastures may reduce N fertilizer inputs and improve forage nutritive value. This 2-yr, 2-location, on-farm study established two legumes, alfalfa (Medicago sativa L.) or rhizoma peanut (RP; Arachis glabrata Benth.), in mixtures with bahiagrass. We compared bahiagrass-legume mixtures + 45 kg N ha −1 harvest −1 with their non-N fertilized monocultures and with bahiagrass + 90 kg N ha −1 harvest −1 (N-fertilized bahiagrass). Treatments were bahiagrass, N-fertilized bahiagrass, bahiagrass-alfalfa, bahiagrass-RP, alfalfa, and RP. Variables analyzed included herbage accumulation (HA), botanical composition, forage N concentration, forage total N aboveground (TNAG), and N agronomic efficiency. Mixtures and N-fertilized bahiagrass resulted in similar cumulative HA (10,400 kg dry matter [DM] ha −1 yr −1 , on average) and they were greater than all other treatments (4,190 kg DM ha −1 yr −1 , on average). Alfalfa and RP represented low proportions of the mixed swards, with alfalfa proportion being as high as 16.1% and as low as 1.6%. Rhizoma peanut greatest proportion was 2.1% and the lowest was 0.5%. Mixtures and N-fertilized bahiagrass maintained similar N concentrations, but they were consistently lower than legume monocultures. The N-fertilized bahiagrass and mixture treatments resulted in the greatest TNAG in four out of the six sampling dates. The AE N of mixtures was typically greater than N-fertilized bahiagrass. Since legumes had low proportion in mixtures, 45 kg N ha −1 harvest −1 was the upper limit for reaching maximum HA in bahiagrass.