Crop rotations in the northern Great Plains of North America increasingly include corn (Zea mays L.) and soybean (Glycine max (L.) Merr.). Use of cover crops, while less extensive, is also increasing given their purported agronomic and environmental benefits. To date, soil responses to the inclusion of corn, soybean, and cover crops in rainfed cropping systems have not been well documented in the region. Therefore, soil properties were evaluated 6 years after establishment of three crop rotations (spring wheat (Triticum aestivum L.)–soybean (SW–S), spring wheat–corn–soybean (SW–C–S), and spring wheat–corn–cover crop (SW–C–cc)) each split by no and minimum tillage on a Dark Brown Chernozem near Mandan, ND, USA. Soil responses to treatments were subtle and exclusive to the 0–7.6 cm depth. Soil pH was lower in SW–S than SW–C–cc (5.28 vs. 5.48; P = 0.05), SO₄-S was greater under SW–C–cc than SW–C–S (13.4 vs. 11.6 g S kg⁻¹; P = 0.03), exchangeable K was greater under SW–C–S and SW–C–cc than SW–S (0.83 cmol kg⁻¹ vs. 0.52 cmol kg⁻¹; P = 0.05), and water-stable aggregates were greater in SW–S than SW–C–S (26% vs. 19%; P = 0.08). Soil organic carbon (SOC) and total N did not differ among crop rotations or between tillage treatments, while particulate organic matter N was greater under no tillage compared to minimum tillage (P = 0.08). Between 2012 and 2018, soil pH decreased and SOC increased under SW–C–S. Frequent monitoring of near-surface soil conditions in rotations with soybean every other year is recommended. Furthermore, innovative management practices are needed to enhance soil C and N fractions in rotations with full-season cover crops.