Integrated no-till crop and livestock production systems may help rejuvenate degraded pastures, increaseland use efficiency (LUE), and increase enterprise revenue. Our objectives were to evaluate: (1) plantingdate effects on seed yield and nutrient concentration of an early-maturing, no-till system (NTS) soybean(Glycine max) when intercropped with palisade grass (Brachiaria brizantha); (2) dry matter productionand protein concentration of the grass pasture after soybean harvest; and (3) overall revenue and LUEfor the intercrop system. Experiments were performed during two growing seasons in Botucatu, Brazilusing a randomized complete block experimental design. When palisade grass and soybean were sownsimultaneously, soybean yield averaged 3.28 Mg ha−1. Similar seed yields were observed when palisadegrass was planted either 30 d after soybean emergence (DAE) (3.29 Mg ha−1) or at the soybean repro-ductive stage R6 (full seed) (3.50 Mg ha−1). Monocrop soybean yield averaged 3.50 Mg ha−1. First cut drymatter forage production was greater when palisade grass was sown at the same time as soybean or30 DAE of soybean. This indicates that interseeding palisade grass with soybean does not significantlyaffect soybean nutrition or yield. Intercropping did increase LUE and resulted in 1.6 times more revenuethan soybean alone. However, sowing palisade grass at the soybean reproductive stage R6 (full seed)significantly reduced the forage yield compared to early planting