Coffee production has become increasingly technified in order to optimize the use of inputs and the sustainable use of natural resources. In this context, one way that farmers are investing in their coffee plantations is in the use of precision agriculture techniques, termed precision coffee farming. Over the last few years, research has been conducted to facilitate the application of this technology, and sampling grids with two points per hectare have been recommended by several studies. These georeferenced demarcations in a plot are generally shaped as equidistant squares or rectangles, and the sampling points are located at the centers of these areas. Coffee farmers typically plant their crops following the level line, which greatly hinders the navigation of equidistant points within the field. Thus, the objective of this study was to develop an optimized walking route method to reduce the distance for sampling soil, leaf, and yield attributes. The experimental plots were established in 2000 at Samambaia Farm, located in Santo Antônio do Amparo, Minas Gerais, Brazil, with coffee the cultivar Acaia IAC 479-19, totaling 56.65 ha. The 111 sampling points were distributed in the land following the new method proposed in this study, and, after walking simulations using Farm Works Mapping Software, the new method was compared with the conventional method using the mean displacement between points. The new optimized walking routes method reduced the mean distance traveled to sample the points by 50.1%.