Grazing pastures to low post-grazing sward heights (PGSH) is a strategy to maximise the quantity of grazed grass in the diet of dairy cows within temperate grass-based systems. Within Irish spring-calving systems, it was hypothesised that grazing swards to very low PGSH would increase herbage availability during early lactation but would reduce dairy cow performance, the effect of which would persist in subsequent lactation performance when compared with cows grazing to a higher PGSH. Seventy-two Holstein–Friesian dairy cows (mean calving date, 12 February) were randomly assigned post-calving across two PGSH treatments (n = 36): 2.7 cm (severe; S1) and 3.5 cm (moderate; M1), which were applied from 10 February to 18 April (period 1; P1). This was followed by a carryover period (period 2; P2) during which cows were randomly reassigned within their P1 treatment across two further PGSH (n = 18): 3.5 cm (severe, SS and MS) and 4.5 cm (moderate, SM and MM) until 30 October. Decreasing PGSH from 3.5 to 2.7 cm significantly decreased milk (−2.3 kg/cow per day), protein (−95 g/day), fat (−143 g/day) and lactose (−109 g/day) yields, milk protein (−1.2 g/kg) and fat (−2.2 g/kg) concentrations and grass dry matter intake (GDMI; −1.7 kg dry matter/cow per day). The severe PGSH was associated with a lower bodyweight (BW) at the end of P1. There was no carryover effect of P1 PGSH on subsequent milk or milk solids yields in P2, but PGSH had a significant carryover effect on milk fat and lactose concentrations. Animals severely restricted at pasture in early spring had a higher BW and slightly higher body condition score in later lactation when compared with M1 animals. During P2, increasing PGSH from 3.5 to 4.5 cm increased milk and milk solids yield as a result of greater GDMI and resulted in higher mean BW and end BW. This study indicates that following a 10-week period of feed restriction, subsequent dairy cow cumulative milk production is unaffected. However, the substantial loss in milk solid yield that occurred during the period of restriction is not recovered.