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Associations between feeding practices, milk yield, and composition were assessed in smallholder rural and peri-urban dairy cow (n = 97) and pastoral camel (n = 15) herds. A cross-sectional survey supplemented by follow-up collection of feed and milk samples for laboratory analyses was conducted. Data was analyzed using descriptive, correlation, and analysis of variance statistics. Feeding practices in rural smallholder dairy cows’ herds were pastured based (87.7%) with napier grass (89.4%) and concentrates (93.9%) as forage and concentrate supplements. In smallholder peri-urban dairy cows’ herds, it was napier grass based (68.4%) with concentrates (100%), oat forages (42.9%), and crop residues (28.6%). Pastoral camel herds were shrub browsing (53%), rangeland pasture grazing (20%), or Euphorbia tirucalli feeding (27%). Smallholder rural farmers offered more feeds (16.1 vs 15.3 kg/day …