This study aimed to compare the pre-defoliation heights of Marandu palisade grass (MPG) grown in full sun conditions versus those grown in a silvopastoral system with varying levels of shading over two years of pasture management. The experimental design adopted was completely randomized, and the treatments were arranged in a split-plot design, with different shading levels implemented between the silvopastoral system rows. The shading treatments included silvopastoral with 55-60%, 50-55%, 45-50%, and 40-45% shading, obtained as a function of the spacing between eucalyptus trees, along with an additional treatment of MPG grown in full sun (monoculture). In the subplots, four pre-defoliation management heights for MPG were tested: 30 cm, 40 cm, 50 cm, and 60 cm. The results revealed that the total number of tillers was higher in the full sun treatment, showing an average of 12.5% more tillers per m2 over the two years compared to the highest shading treatment in the silvopastoral system. Additionally, pre-defoliation heights of 40 cm and 50 cm demonstrated the highest total chlorophyll indices in the MPG plants. The greatest dry mass productivity of MPG was also observed at pre-defoliation heights of 40 cm and 50 cm. Increasing shading levels negatively impacted the productivity of the MPG. However, MPG managed at pre-defoliation heights of 40 cm and 50 cm exhibited better adaptation to the shaded system. This reinforces its suitability for silvopastoral systems due to its good shade tolerance (40–45%) and the flexibility it provides in pasture and livestock management.