Soil compaction is regarded as the most serious environmental problem caused by conventional agriculture. Few studies are concerned with the assessment of soil compaction using infiltration speed, specifically in the Vertisol soil characteristic of the main maize producing area of the Toluca-Atlacomulco Valley in central Mexico. The aim of this research was to examine the effect on infiltration speed and penetration resistance of a Vertisol soil when compacted by wheeled agricultural traffic in three different types of tillage systems: zero, minimal and conventional. Penetration resistance was measured on the wheel track with a portable digital penetrometer, and the mean infiltration speed was determined according to the double cylinder infiltrometer method. The pressure exerted by the number of wheeled traffic passes increased Vertisol soil compaction at 30 cm depth. Even though the benefits of zero tillage were similar to those showed by minimum tillage during the experimental period, minimum tillage reported the highest infiltration speed.