Mixed pasture grass-legume systems balance forage supply and minimize environmental impacts by reducing the need for nitrogen fertilization. Pinto peanut (Arachis pintoi Krap. and Greg. “Amarillo”) has several traits that are suitable for mixed pastures but have not yet been adequately explored. The aim of this study was to evaluate a mixture of Tifton 85 bermudagrass (Cynodon dactylon) and pinto peanut and evaluate forage yield, crude protein, and stocking density. A two-year study of three grazing systems was used with the following treatment combinations: (a) Tifton 85 (T) + 100 kg N ha-1 yr-1 + pinto peanut (T + PP+100); (b) T + 100 kg N ha-1 yr-1 (T + 100; control, pure grass); and (c) T + 200 kg N ha-1 yr-1 (T + 200; positive control, pure grass). In this study, forage yield, pasture characteristics and responses of lactating cows were evaluated. The experimental design was completely randomized with three treatments (grazing systems), three replicates (paddocks), and repeated measures (grazing cycles within seasons). Forage accumulation, crude protein concentration, and stocking rate were 15.1; 11.3 and 14.1 t DM ha-1 yr-1; 17%, 16%, and 17%; and 5.3; 4.9 and 6.1 AU ha-1 day-1, respectively. The grass-legume system yielded the best results.