Use of snaplage residue in an integrated crop-livestock system (ICLS) allows adding beef production between two corn growing seasons, providing greater profitability with efficient land use. However, the effects on soil properties and the subsequent crop production remain uncertain. This study aimed to evaluate the short-term impact of residue grazing on the soil physical and chemical properties and subsequent crop yield. The treatments were two stocking rates (SR): (1) low stocking rate (LS; 3.5 AU/ha) and (2) high stocking rate (HS; 7.0 AU/ha), and ungrazed control (CT). Crossbred beef heifers (n = 48) were assigned to 16 paddocks (3 heifers/paddock). Pre-planned contrasts were used CT vs. HS + LS and HS vs. LS with a significance P ≤ 0.05. Multivariate analysis was performed using principal component analysis. Initial residual mass was no different for all treatments (9,683 kg DM/ha). There was a lower final mass for grazed than ungrazed. There was also less total pre-planting mass for grazed than ungrazed. No grazing or stocking rate effects were detected for penetration resistance. The total nitrogen returned was increased by grazing (82% compared to ungrazed). The soil phosphorus (P) and potassium (K) were also increased with grazing (28 and 72%, respectively). The total yield mass increased by grazing (15% compared to ungrazed) in the subsequent crop. In conclusion, grazing residue had no negative short-term effects on the physical characteristics of the soil, while increasing concentrations of macronutrients from animal supplementation positively affected subsequent corn yield.