Penetrometers and penetrographers are widely used to measure soil resistance to penetration, but the results are associated with other soil properties (such as bulk density, water content, and particle size distribution). Thus, for an adequate interpretation of results, site-specific studies are necessary to identify which properties are more related to soil resistance. We aimed to measure the resistance to penetration of a Typic Paleudalf under distinct soil uses and to identify soil properties that influence soil resistance. The soil uses in this study included anthropized forest (composed of tree and shrub species), pasture (5-year-old pasture), Eucalyptus 20 (a 20-year-old Eucalyptus saligna stand), and Eucalyptus 4.5 (a 4.5-year-old Eucalyptus saligna under the second rotation). Soil resistance to penetration was measured with an impact penetrometer, and the data were correlated with other physical and mechanical properties of soil, such as the particle size, soil moisture, air permeability, saturated hydraulic conductivity, porosity, bulk density, precompression stress, and compressibility index. We observed that a resistance of 1.3 MPa matches with other soil property values corresponding to soil compaction, and values greater than 1.3 MPa were verified at depths of 0–8 cm for pasture and 8–30 cm for Eucalyptus 4.5. Analyzing all soil uses together, the correlation was significant (p < 0.05) with gravel (r = 0.34), silt (r = −0.32), clay (r = 0.26), gravimetric moisture (r = −0.27), macroporosity (r = 0.24), and soil bulk density at the end of the compressibility test (r = 0.27). The penetrometer is useful for evaluating the physical conditions of soil, but we highlight that soil resistance is influenced by factors such as particle size and soil moisture, as examples. We recommend using a set of soil properties for a better interpretation of penetration resistance data and to support decision-making regarding soil management.