Herbage allowance (HA) management during gestation–lactation cycle of cows grazing native grasslands improves pregnancy rates and calves’ weaning weight records. Those improvements were associated with greater herbage mass, and better body condition score (BCS) and metabolic status of the cows, which could affect grazing and maternal behaviour, particularly when temporary suckling restriction (TSR) and flushing (FL) is applied. The objective of this study was to evaluate the effect of HA during the gestation–lactation period on cows’ and calves’ liveweight (LW), BCS, milk yield, insulin, IGF-1 and leptin concentrations, as well as the proportion of diurnal grazing activities (grazing, ruminating, walking and idling), and maternal behaviour from −10 to 70 days relative to TSR (day 0 = initiation of TSR at 86 ± 10 days relative to calving). Thirty-three primiparous Hereford cows were allocated to HA treatments during gestation and lactation, which annually averaged 2.5 (low = LHA) and 4 kg DM/kg LW (high = HHA). The LW and BCS of cows did not differ during −10 to 50 days but were greater in HHA than LHA at the end of the study (P < 0.05). Concentrations of IGF-1 were greater in HHA compared to LHA, while insulin and leptin did not differ. Grazing was lower in HHA than LHA, and the opposite occurred with ruminating and idling (P < 0.05). Cow–calf physical distance was greater in LHA cows compared to HHA (P < 0.05) and increased greatly in the former group after FL, while this increase was lower and later in HHA cows. Milk yield was greater in HHA (P < 0.05), and calves’ weight did not differ between treatments from day −10 to 35, but was greater in HHA compared to LHA from 45 days until the end of the study. Thus, the HHA in a low herbage height and mass condition resulted in greater IGF-1 concentrations and milk yield, and induced changes in grazing and maternal behaviour that were associated with increased cows’ LW, BCS and calves’ weight at the end of the study.