Angus-cross steers (n = 60) were used to assess the effect of forage species [alfalfa (AL; Medicago sativa L.), bermudagrass (BG; Cynodon dactylon), chicory (CH; Cichorium intybus L.), cowpea (CO; Vigna unguiculata L.), and pearl millet (PM; Pennisetum glaucum (L. R Br.)] in replicated 2-ha paddocks for finishing on cattle performance, carcass quality, and meat quality in a 2-yr study. Steers were blocked by BW and assigned randomly to finishing-forage treatments before the start of the experiment. Steers grazing AL and CH had greater (P < 0.05) ADG than those grazing for BG, CO, and PM, whereas AL produced more (P < 0.05) gain/ha than CH, CO, and PM. Days steers spent grazing were longest (P < 0.05) for PM and shortest (P < 0.05) for CO. Steers grazing BG and CO produced heavier (P < 0.05) HCW than steers grazing BG and PM. Dressing percentage was greatest (P < 0.05) in steers grazing CO, and grazing AL resulted in greater (P < 0.05) dressing percentages than grazing BG, CH, and PM. Grazing AL and CH produced carcasses with more (P < 0.05) fat at the 12th rib than steers grazing warm-season grasses (BG and PM). Marbling scores tended to be greater (P = 0.06) for CO, but carcasses from steers grazing CO received greater (P < 0.05) quality grades than AL and CH. Trans-11 vaccenic (C18:1 trans-11; TVA) acid concentration in the LM was greater (P < 0.05) for BG than CH, CO, and AL. Conjugated linoleic acid, cis-9 trans-11 isomer, concentration was greatest (P < 0.05) for BG and PM than AL, CH, and CO. Grazing CH and PM increased (P < 0.05) the ratio of omega-6 to omega-3 fatty acids in the LM compared with AL, BG, and CO. Grazing legumes (AL and CO) resulted in lower (P < 0.05) Warner-Bratzler shear force values than other forage species. Consumers rated steaks from steers finished on AL and CO pastures greatest (P < 0.05) and steaks from steers finished on BG and CH least (P < 0.05) for overall palatability. Consumer preference was greatest (P < 0.05) for steaks from steers finished on AL and least (P < 0.05) for steaks from steers finished on BG and CH. Finishing steers on AL and CH during summer increased steer performance (> 1 kg/d). Finishing on legumes (AL and CO) increased dressing percentage, reduced Warner-Bratzler shear force values, and increased consumers preference, whereas finishing on grasses (BG and PM) enhanced anticarcinogenic fatty acid concentrations.