To investigate the effect of feeding dairy cows diets containing lucerne hay, centrosema hay, and groundnut haulms (crop residue) on dry matter intake (DMI), milk yield, and milk composition, nine multiparous Friesian-Holstein cows in their mid-lactation stage were used in a 3 × 3 crossover design replicated three times. Dairy cows fed lucerne hay had significantly (p < 0.001) higher DMI than dairy cows fed centrosema hay. DMI for cows fed groundnut haulms and lucerne hay was not significantly different. Daily milk yield for dairy cows fed diet containing lucerne hay was significantly (p < 0.01) higher than that for dairy cows fed diets containing groundnut haulms or centrosema hay. Milk composition and body condition scores of the cows were not significantly affected by either lucerne hay, groundnut haulms, or centrosema hay. Overall, the results in this study indicated that feeding dairy cows diets containing lucerne hay increased milk yield.