This project investigates the resilience of grassland soils under various forms of compaction caused by agricultural mechanisation. On a test plot, the effects of standard mechanisation and specific minimal loading (maximum soil pressure of 0.99 bar at a depth of 25 cm) are compared with a zero reference standard grassland and zero reference herb-rich grassland mixture. The aim is to gain insight into the degree of soil compaction, the soil’s ability to recover and the influence of herb-rich grassland on soil structure and yield. The research consists of two soil measurements and yield measurements of multiple grass harvests. Machine tracks are logged and soil compaction load per grass harvest round is mapped (depending on soil moisture). Practical field measurements are combined with theoretical modelling (Terranimo), using machine profiles, soil moisture and soil type to compare a theoretical approach to compaction with measured compaction. The project provides knowledge about the impact of mechanisation and Terranimo soil compaction on grassland, and about the potential of herb-rich grassland to limit negative effects. The results support dairy farmers and advisors in making decisions about soil management and mechanisation, aimed at healthy soil and productive grassland.