A field experiment was conducted on okra (Abelmoschus esculentus L.) for assessing the sustainability of yield with optimum irrigation schedule based on soil moisture depletion. Four irrigation treatments: Irrigation at I1:20%, I2:30%, I3:40% and I4:50% of soil moisture depletion rate in main plots and three fertilizer treatments: Fertigation at F1:100%, F2:80% and F3:60% of recommended NPK (100:25:40 kg/ha) in subplots were tested. Soil matric potential was recorded continuously using electronic tensiometers. The soil moisture characteristics curve was derived for various soil matric potential value sand the soil water content. The irrigation controller triggered solenoid valves for irrigation when soil moisture depletion reached a prespecified level in each treatment. Soil moisture depletion values were significantly predicted based on a regression model calibrated for each treatment over the crop growing period. The model gave minimum prediction error (PE) for I1, followed by I2, I3 and I4, respectively. Plant growth and yield parameters were significantly influenced by the soil moisture availability under each treatment. It is recommended that irrigation be scheduled at 20% soil moisture depletion rate together with 100% NPK fertilizer application for attaining sustainable yield of okra (12.3 t/ha), apart from maximum WUE (3.5 kg/m3) and plant growth parameters under semiarid inceptisols.