An experiment was conducted at the Vegetable Research Farm of the National Horticultural Research Institute, Ibadan, Oyo State, Nigeria, in the rain-forest agro-ecological zone in 2016 and 2017 to determine suitable cropping systems to increase the yield of okra. The seed of okra (Abelmoschus esculentus (L.) Moench), cv. LD-88, was planted at a spacing of 60 × 40 cm as an intercrop and monocrop to produce an average density of 4.2 plants∙m^-2; the intercrops cowpea (Vigna unguiculata(L.) Walp.), var. Ife brown, and peanut (Arachishypogaea L.), var. Kampala, were planted to provide average densities of 5.6 plants∙m^-2, 4.2 plants∙m^-2, 3.3 plants∙m^-2 and 2.7 plants∙m^-2. Data were collected on plant height, number of leaves, leaf area, stem diameter and fruit yield of okra. Year affected plant height, number of leaves, leaf area, stem diameter and fruit yield of okra intercropped with legumes at different densities. Legume densities affected plant height, number of leaves, stem diameter, leaf area and fruit yield. The interaction of year × legume densities affected plant height, number of leaves, stem diameter, leaf area and fruit yield of okra. Intercropping okra with peanut at the density of 2.7 plants∙m^-2 enhanced its growth and yield and appeared to be the best configuration for these crops.