Signal grass (Brachiaria decumbens cv. Basilisk, syn. Urochloa decumbens Stapf R.D. Webster) has been widely grown in the Brazilian tropics over the last 40 years, but management recommendations have been largely empirical and not based on canopy targets. This study was designed to characterise and explain the impact of canopy-based grazing strategies on herbage accumulation, plant-part composition, and nutritive value of signal grass. Treatments were factorial combinations of two stubble heights, 5 cm (SH5) and 10 cm (SH10), and two grazing frequencies, grazing initiated when 95% (LI95) and 100% (LI100) of incoming light was intercepted by the canopy. Rest periods were imposed during summer and autumn of both experimental years. Leaf blade accumulation was greater for LI100 than LI95 (9.5 v. 8.8 t/ha) associated with increased stem accumulation (4.6 v. 3.5 t/ha for LI100 v. LI95). The SH10 pastures produced more stem than SH5 pastures (4.4 v. 3.6 t/ha), with no difference in leaf blade accumulation. In general, SH10 pastures had more residual leaf blade mass post-graze, whereas SH5 pastures combined with higher grazing frequency (SH5-LI95) became more prostrate over time, increasing leaf blade proportion in post-graze forage. Over time, stubble height had more influence than grazing frequency on leaf blade proportion at pre-graze, and SH5 pastures had leafier canopies than SH10 pastures. Digestibility was less under LI100, especially when associated with SH5 stubble (SH5-LI100), regardless of season of the year. To provide optimal leaf blade yield and overall forage digestibility, particularly during warm, rainy seasons, defoliation of signal grass should include pre-graze height varying from 18 to 30 cm (95–100% of light interception) and mean stubble height close to 10 cm.