Context. Understanding ecology in grass–legume pastures can help support strategies aimed at maintaining canopy stability in terms of botanical composition.

Aims. This 2-year study evaluated spatial variability, focusing on plant structural characteristics in a Marandu palisadegrass [Urochloa brizantha (Hochst. Ex A. Rich.) R.D. Webster cv. Marandu]–forage peanut (Arachis pintoi Krapov. and W.C. Greg. cv. BRS Mandobi) mixed canopy under grazing in continuous stocking management.

Methods. The pasture was managed with canopy height of 20–25 cm. The experimental area had a permanent sample grid containing 50 pre-established and georeferenced plots. Principal component analysis was performed, and spatial dependence structure of the first principal component and structural variables were separately characterised by geostatistical analysis.

Key results. There was spatial dependence of the structural characteristics, with marked spatial heterogeneity in the distribution of all variables. Taller grass canopies caused competition for light between species, reducing legume contribution and inducing more erect forage peanut growth habit. Conversely, in areas with lower grass canopy height, forage peanut botanical composition increased to up to 70%, as it propagated more effectively by stoloniferous propagation.

Conclusions. The canopy structure spatial variability of a Marandu palisadegrass–forage peanut mixed pasture determines the overall average pasture grass/legume proportion. In regions with taller canopies, Marandu palisadegrass was favoured, while in areas with shorter canopy, forage peanut proportion was promoted. Satisfactory legume proportions can be reached in the canopy despite areas with reduced legume contribution.

Implications. Our findings using geostatistical techniques facilitate the development of useful and innovative tools allowing better comprehension for the management of mixed pastures.