Agricultural soils provide ecosystem services, but the removal of natural vegetation reduces water infiltration capacity, increasing surface runoff. Thus, monitoring erosion is critical for sustainable agricultural management. Sediment losses and surface runoff were evaluated using a simulated rainfall of 75 mm/h in areas with crops and pastures in both the Caiabi River and Renato River sub-basins of the Teles Pires River watershed in Mato Grosso State, Brazil. In both the Caiabi and Renato sub-basins, data were collected from 156 observations in the upper, middle, and lower regions where (1) soybeans, (2) maize, and (3) pasture were grown alone, with another crop, or with soil that was scarified. Erosion occurred independent of soil texture and was closely related to the management and use of systems involving fewer crops and more soil scarification, regardless of sub-basin location. In uncovered, scarified soil, the soil losses from erosion were greater compared to covered soil, regardless of sub-basin and sub-basin region. In the Renato River sub-basin, soil losses in cultivated areas not planted with crops but with scarification were 66.01, 90.79, and 60.02 g/square meter in the upper, middle, and lower regions, respectively. Agricultural producers need to increase the planting of crops throughout the year and minimize soil disturbance, which will reduce soil erosion and improve sustainability.