Communally owned rangelands serve as critical grazing areas for mixed livestock species such as cattle and goats, particularly in the arid and semi-arid regions of Southern Africa. This study aimed to evaluate the nutritional composition and woody species composition of communal rangelands where cattle and goat flocks graze together and to investigate the influence of grazing intensity on vegetation dynamics. Vegetation surveys were conducted across varying grazing intensities to assess species richness, biomass, and dietary preferences, while soil properties were analyzed to determine their interaction with vegetation attributes. Stepwise regression and path analyses were used to explore the relationships between soil characteristics, vegetation structure, and livestock dietary choices. The results revealed that high grazing pressure significantly reduced grass biomass (p = 0.003) and woody species density (p = 0.007) while increasing shrub cover (p = 0.018). Nutritional analysis indicated that goats preferred woody shrubs, which contributed 42.1% of their diet compared to 27.8% for cattle (p = 0.008). Regression analysis further showed that soil organic carbon (p = 0.002) and tree height (p = 0.041) were strong predictors of shrub cover. Seasonal variation significantly affected forage availability and nutritional content, with higher crude protein levels recorded during the wet season (p = 0.007). These findings suggest that grazing management strategies should be tailored to the distinct forage needs of cattle and goats to maintain the productivity and ecological stability of communal rangelands. A holistic approach that considers livestock dietary preferences, vegetation composition, and soil health is essential for sustainable rangeland management in mixed-species grazing systems.