Pastures are the most practical and cost-effective way to feed cattle and are the basis of livestock production in Central Brazil. Grass–legume intercropping is essential for increasing production in sustainable animal-feeding systems. The aim of the present study was to evaluate the productive and nutritional characteristics of Brachiaria brizantha (A.Rich.) Stapf (palisade grass) cultivars intercropped with Stylosanthes cv. Campo Grande (multiline 80% S. capitata and 20% S. macrocephala) in different forage systems, in different seasons of the year, over a 2-year period. A randomised block experimental design was used, with three replicates. The treatments consisted of the following seven forage systems: Piata palisade grass, Paiaguas palisade grass, Stylosanthes cv. Campo Grande, row intercropping of Piata palisade grass and Stylosanthes, mixed intercropping of Piata palisade grass and Stylosanthes, row intercropping of Paiaguas palisade grass and Stylosanthes, and mixed intercropping of Paiaguas palisade grass and Stylosanthes. Evaluations were performed in each season of the year (winter, spring, summer, autumn) on the same plots over the 2-year period. Piata and Paiaguas palisade grass behaved similarly in all forage systems, indicating that both can be intercropped with Stylosanthes. Grass–legume intercropping had a positive effect on the productive and nutritional characteristics of the forage plants, increasing dry matter production, crude protein concentrations and in vitro dry matter digestibility, and decreasing the fibre fractions. Row intercropping was more efficient at maintaining high proportions of legume plants in the system, resulting in greater forage production and quality.