Soil penetration resistance is an important indicator of soil physical quality and the critical limit of 2 MPa has been widely used to characterize the soil physical quality, in both no-tillage and conventional systems. The aim of this study was to quantify the influence of different tillage and cropping systems on the soil penetration resistance in a Rhodic Eutrudox. The experiment was carried out in a 5 × 2 factorial, completely randomized block design (tillage systems vs cropping systems), with four replications. The tillage systems consisted of: conventional tillage disk harrow; minimum tillage with annual chiseling; minimum tillage with chiseling every three years; no-tillage for 11 consecutive years; and no-tillage for 24 consecutive years. The factor cropping systems was represented by: crop rotation and crop succession. The soil penetration resistance (SPR) was determined in 20 soil samples per treatment and layer (0.0-0.10; 0.10-0.20 and 0.20-0.30 m) for each soil matric potential: -6, -10, -33, -100, -500 kPa. The SPR was determined at a volumetric soil water content equivalent to the fraction of plant-available water of 0.7. There were no differences of soil penetration resistance between the two cropping systems. Differences in soil penetration resistance among tillage systems were related to the matric potential at which the samples were equilibrated. The critical SPR limit of 2 MPa normally used for conventional tillage should be maintained. However, this value of 2 MPa is inappropriate for the physical quality characterization of Rhodic Eutrudox under no-tillage and/or minimum tillage with chiseling. Regardless of the cropping systems, the critical SPR limit should be raised to 3 MPa for minimum tillage with chiseling and to 3.5 MPa for no-tillage.