This dataset contains data used to generate results presented in the paper “Estimating aboveground pasture biomass under an integrated crop-livestock system based on spectral and texture measures derived from UAV images (DOI/10.1016/j.compag.2022.107122)”. The research estimated pasture biomass through UAV remote sensing using a multispectral sensor (Micasense Rededge). The study area is in the northwest region of São Paulo State, Brazil. There are 3 UAV orthomosaics from July, August, and November 2019. During the experiment, we collected 181 biomass samples of 1.0 square meter measured by the dry weight in grams (g). The sampled areas had boundaries designed in the orthomosaics (regions of interest). The data files available contain a) dry-weighted pasture biomass (CSV file), b) sampled area boundaries (3 shapefiles), and c) 3 UAV multispectral orthomosaics.