Providing access to forage has been shown to influence feeding behavior and non-nutritive oral behavior in individually housed calves, and these effects may be enhanced or altered in calves reared in social housing. We evaluated the effect of hay provision on the behavioral development and performance of group-housed dairy calves. Holstein calves (n = 32) were grouphoused (4 calves per group) at 17 ± 3 (mean ± SD) d of age. All calves were provided milk replacer (8 L/d) via an automated milk feeder and pelleted starter and water ad libitum. Pens were randomly assigned to receive either chopped coastal Bermuda grass in buckets adjacent to the starter trough (starter and hay, STH; n = 4 pens), or no additional feed (starter only, ST; n = 4 pens). Calves were weaned through a 10-d stepdown program beginning at 46 d of age. Intake of solid feed and hay were recorded daily, and body weights were measured weekly. The behavior of 2 focal calves per pen was recorded continuously from video for 12 h on 2 consecutive days during each of wk 4, 6, and 7 of life, to measure solid feed intake time, grooming, and pendirected sucking. Hay provision influenced total feed intake, with calves provided hay having greater total solid feed intake in the week before weaning (0.79 vs. 0.55 kg/d, STH vs. ST, respectively; SE = 0.19). Average daily gain (ADG) was similar during the pre-weaning period but tended to be greater for STH calves during weaning. Calves in pens provided hay also had fewer unrewarded visits to the milk feeder during weaning (12.5 vs. 21.1 visits per 12 h, STH vs. ST, respectively; SE = 3.59) and performed less pen-directed sucking (9.11 vs. 19.3 min per 12 h, STH vs. ST, respectively; SE = 2.86). Self-grooming time and bout characteristics evolved differently between treatments over time, with pens of calves provided hay having a greater increase in frequency and duration of self-grooming bouts during weaning. Overall, we found that providing hay to pre-weaned calves resulted in behavioral and performance benefits, including greater total feed intake and reductions in pen-directed sucking, suggesting that access to hay may improve calf welfare.