Two complementary experiments were conducted to investigate the relationships between the canopy structure of Pennisetum clandestinum (kikuyugrass) pastures created by intermittent stocking strategies and daily herbage intake by cattle. The first experiment (Exp. I) evaluated the relationship between different pre-grazing heights (10, 15, 20, and 25 cm) and a single defoliation intensity (50% reduction in the initial heights). In the second experiment (Exp. II), four defoliation intensities (40, 50, 60, or 70% reduction in height) were combined with a single pre-grazing height (25 cm). The following variables were analyzed: i) plant-part composition, herbage mass, and bulk density of the grazing layer; and ii) daily herbage intake. The data were analyzed using orthogonal polynomial contrasts. The Tukey-Kramer test was used to compare daily herbage intake means so that the differences among treatments could be characterized. In general, herbage intake decreased as the pre-grazing canopy height decreased (Exp. I; P = 0.03) and as defoliation intensity increased (Exp. II; P = 0.02). These response patterns were associated with canopy structure, both that existing before and that created during the stocking period. In conclusion, pre-grazing heights lower than 25 cm or defoliation intensities greater than 40% reduce daily herbage intake by cattle in kikuyugrass pastures under intermittent stocking.