This study assessed milk yield and composition of Angus and Angus-cross beef cows raised in southern Brazil. A total of 128 records were collected in two consecutive calving seasons from cows between 3 and 5 years of age of 4 breed compositions: Angus (ANAN), Caracu × Angus (CRAN), Hereford × Angus (HHAN) and Nelore × Angus (NEAN). These cows were mated to Brangus (BN) or Braford (BO) bulls and managed under extensive grazing conditions in southern Brazil. Milk production of these cows was assessed by two procedures: indirectly by the calf weigh-suckle-weigh procedure (WD) and directly by machine milking (MM). Lactation curves were estimated using non-linear regression and the following related traits were derived: peak yield (PY), peak week (PW), total yield at 210 days (TY210) and lactation persistence (PERS). Milk composition and calf weaning weight adjusted to 210 days (WW210) were also determined. The MM technique was considered more accurate because of lower standard errors of estimated means, greater statistical power and greater correlation between TY210 and WW210 (0.50) compared to WD (0.36). Considering the more precise evaluation by MM, the CRAN and NEAN cows had greater TY210 (1070 and 1116 kg, respectively) and PY (8.1 and 7.8 kg, respectively) compared to ANAN and HHAN cows, which had 858 and 842 kg for TY210 and 6.6 and 6.3 kg for PY, respectively. The NEAN cows had the latest PW at 10.8 weeks. Late-calving cows had 21% lower TY210 compared to cows that calved earlier. Milk composition was influenced by cow genotype, with CRAN and NEAN cows producing milk with greater fat (3.8 and 3.9%, respectively) and protein (3.2 and 3.1%, respectively) content compared to ANAN and HHAN cows. Regardless of the genotype; fat, protein and total solids increased in concentration from beginning to end of lactation, while lactose content decreased. Crossbreeding of Angus with adapted breeds of taurine or indicine origin can be effective in increasing milk yield and nutrient content, and consequently producing heavier calves at weaning under extensive grazing in southern Brazil and other similar subtropical climate regions.