This study evaluated the combined effect of foliar spray inoculation with plant growth-promoting bacteria (PGPB) and nitrogen doses on the yield, development, and nutritive value of Megathyrsus maximus cv. BRS Zuri. The experimental design was randomized blocks with four replications, with repeated measures in time. Foliar inoculation of two bacteria (Azospirillum brasilense Ab-V5 (CNPSo 2083) and Ab-V6 (CNPSo 2084) and Pseudomonas fluorescens (CNPSo 2799)) and 40 and 80 kg hasup.−1 N (urea) rates, in addition to the control (without inoculation and N fertilization), were applied. In the rainy season, at the level of 40 kg hasup.−1 of N, inoculation of both A. brasilense and P. fluorescens increased, respectively, the tiller number by 33% and 25% (22 February), and the N accumulated in tissues by 42% and 25% (22 January), while in the previous year (21 February) the beneficial effects of both bacteria were observed in the percentage of leaf blade and in the true digestibility in vitro. When the foliar spray was inoculated with A. brasilense Ab-V5 and Ab-V6 and P. fluorescens CNPSo 2799, with 80 kg N hasup.−1, the root system of Zuri grass increased by 61% and 30%, respectively.