The use of veterinary pharmaceuticals in beef cattle has led to concerns associated with the development of antibiotic resistance in bacteria and endocrine disruption in aquatic organisms. Despite the potential negative consequences, data on the transport and mitigation of pharmaceuticals in grazed watersheds with irrigated pasture are scarce. The objective of this study was to assess the transport of common beef cattle pharmaceuticals (i.e., oxytetracycline, chlortetracycline, ivermectin) via surface runoff and leachate from manure amended to grass-vegetated soil boxes under irrigated pasture conditions. The transport of pharmaceuticals from animal manure in surface runoff and soil leachate was relatively low and appears to be limited by desorption and transport of pharmaceuticals entrained in the manure. In surface runoff, less than 4.2% of applied pharmaceuticals in manure (initial concentration: 0.2 mg kg−1 of manure) were detected after three weeks of irrigation. Concentrations of pharmaceuticals in surface runoff and leachate never exceeded 0.5 µg L−1. The major portion of pharmaceuticals (up to 99%) was retained in the manure or in the soil directly beneath the manure application site. Based on the minimal transport of oxytetracycline, chlortetracycline, and ivermectin, the risk of significant transport for these targeted beef cattle pharmaceuticals to surface water and groundwater from manure on irrigated pasture appears to be relatively low.