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• Tropical forage legumes were grown in rotation or relays with maize and rice. • Subsequent maize yields increased by up to 80 % if legumes were retained as mulch. • Maize yield increased less (15−35% higher) after legume forage was harvested. • Forage legumes grown in rotation with rice increased subsequent yields by 40–70 %. • Clitoria ternatea proved the most beneficial forage legume for diverse systems. In temperate systems, it is well known that forage legumes can improve both nitrogen (N) supply and yields of subsequent cereal crops. While this is assumed to be true in tropical systems, it is less well tested, particularly in smallholder settings where forage is often cut and removed from the field. This paper confirms the potential of short phases of tropical forage legumes to provide N to subsequent crops in seasonally dry tropical farming systems. Across five experiments, maize and rice grain yields increased by up to 80 % after 4−8 month rotations of forage legumes, but the benefits were smaller when legume growth was reduced, biomass was removed for forage, or the yield potential of cereal crops was lower. We found that the additional N cycling from legumes can last for at least 2 years, although the benefit diminishes with time. When all legume material was retained as mulch, the estimated additional N provided to subsequent no-till maize crops was the equivalent of 9−15 kg urea-N per tonne of above-ground legume biomass produced but fell to 1.5−3 kg urea-N/t if forage was removed. After shoot removal, more legume N cycled to a subsequent rice crop (equivalent of 11–13 kg urea-N/t of legume biomass) than to a no-till maize crop, presumably because more below-ground material mineralised. Of the legumes tested, Clitoria ternatea grew best across a variety of environments and use patterns and provided the largest yield benefits to subsequent crops. This research demonstrates the potential to integrate short phases of tropical herbaceous forage legumes into smallholder crop-livestock systems in the seasonally dry tropics, and, in doing so, improve or maintain staple grain crop production and household food self-sufficiency. [ABSTRACT FROM AUTHOR]