The objective of this work was to evaluate the productivity and extraction of macronutrients by Urochloa brizantha cv. BRS Paiaguás (Syn. Brachiaria brizantha cv. BRS Paiaguás) single and intercropped with pigeon pea (Cajanus cajan cv. BRS Mandarim), subjected to four doses of nitrogen applied in topdressing (0, 80, 160 and 240 kg ha-1). The experiment was carried out in São Luís de Montes Belos, GO, in soil classified as dystrophic red latosol, under Cerrado conditions. Plant height and dry mass of pigeon pea, plant height, number of tillers, dry mass, and macronutrient extraction by Paiaguás palisadegrass were evaluated. Higher mass production was observed in the pasture intercropped with the legume, requiring a lower amount of N. Based on the results exposed, the cultivation of Paiaguás palisadegrass reaches higher productivity when intercropped with a legume such as pigeon pea, in addition to providing greater efficiency in the use of nutrients such as N, P and K. Nitrogen fertilization has a negative influence on the production of dry mass and height of pigeon pea plants.