Management-intensive Grazing (MiG) has been proposed to sustainably intensify agroecosystems through careful management of livestock rotations on pastureland. However, there is little research on the soil health impacts of transitioning from irrigated cropland to irrigated MiG pasture with continuous livestock rotation. We analyzed ten soil health indicators using the Soil Management Assessment Framework (SMAF) to identify changes in nutrient status and soil physical, biological, and chemical health five to six years after converting irrigated cropland to irrigated pastureland under MiG. Significant improvements in biological soil health indicators and significant degradation in bulk density, a physical soil health indicator, were observed. Removal of tillage and increased organic matter inputs may have led to increases in β-glucosidase, microbial biomass carbon, and potentially mineralizable nitrogen, all of which are biological indicators of soil health. Conversely, trampling by grazing cattle has led to increased bulk density and, thus, a reduction in soil physical health. Nutrient status was relatively stable, with combined manure and fertilizer inputs leading to stabilized plant-available phosphorous (P) and increased potassium (K) soil concentrations. Although mixed effects on soil health were present, overall soil health did increase, and the MiG system appeared to have greater overall soil health as compared to results generated four to five years earlier. When utilizing MiG in irrigated pastures, balancing the deleterious effects of soil compaction with grazing needs to be considered to maintain long-term soil health.