Cover cropping is a promising and sustainable agronomic practice to ameliorate soil health and crop performances in agro-ecosystems. Indeed, cover crops (CCs) may regulate several ecosystem services such as nutrient cycling, soil fertility, moderation of extreme meteorological events, pollination, and climate and water regulation; in addition, CCs are also used as forage crops and have considerable effects on plant and soil biodiversity. However, to achieve the desired effects on agro-ecosystems, cover cropping should be carefully adopted by considering the specie choice, period of cultivation, and termination method based on site, farm, or purpose-specific. The main objective of this manuscript is to analyze the effects of modern agriculture on soil and environmental health and how cover crops can support sustainable cropping systems and global food security. In addition, it focuses on how the incorporation of cover crops into conventional cropping systems can help in the diversification of crops and assist in mitigating the environmental effects of cropping systems. Finally, this review thoroughly investigates the potential effects of CCs on environmental sustainability, which can be an important source of information for sustainable crop production and food security.