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This paper reports on the effect of cover crops on modifying soil surface response to penetration and the relation to soil water content. The research used two crops, barley and vetch, as cover crops and compared them with a bare fallow in a 10 year long term trial in Spain. The soil resistance to penetration was closely related to the surface soil water content (R2 = 0.65) and cover crops affected it through soil moisture modification. The greater biomass of barley compared to vetch increased the soil water content prior to main crop seeding and reduced the resistance to penetration. The good performance of barley resulted in a reduction of more than 60% of the soil resistance to penetration between the 3rd and 8th year of the experiment. Even under bare fallow, soil strength was decreased after ten years with reduced tillage. The maintenance of cover crop residues over surface soil together with reduced tillage enhanced the soil surface conditions and steadily reduced the risk of crust formation.