The objective was to characterize milk yield and composition from mixed-breed goats kidding in winter and grazing rangelands with 221 (n = 15), 334 (n = 20), or 441 (n = 12) mm of annual rainfall in northern Mexico (22-25°N). Weekly milk yield and composition were recorded and progeny growth performance assessed. Body weight loss during lactation was the highest (6.4 kg) for goats on rangeland with 441 mm of rainfall than goats on 221 mm (1.6 kg), or 334 mm (1.8 kg; P < 0.01). The highest daily milk yield was for goats on 221 mm (498 mL; P < 0.01). There was not an evident peak of lactation and milk yield increased uninterruptedly at the end of lactation. Milk fat was negatively related to milk yield and goats on rangeland with 334 mm had the greatest milk fat content (P < 0.001). Milk protein and lactose content were higher in goats on rangeland with 221 mm (P < 0.01). Goat kids on rangelands with 221 and 441 mm grew faster and were heavier (P < 0.001) at weaning than kids reared in other rangelands. Weaning weight was positively related to milk yield (P < 0.001); but not milk components (P > 0.05). In conclusion, moderate milk yield of mixed-breed goats on rangeland is feasible with parturitions in winter, and milk yield is not affected by reduced annual precipitation in rangelands of northern Mexico. Offspring growth performance depends on maternal milk yield, but not milk composition. Nevertheless, slow growth to weaning of offspring had adverse effects on time to reach adequate market weight.