This study measured soil penetration resistance (PR) and soil moisture in 10 citrus orchards in Vietnam with different ages over one year. The results showed that PR increased with the age of the raised beds and varied seasonally with changes in soil moisture. PR was more strongly correlated with volumetric water content than water potential (pF values). Bulk density of the subsoil layers increased significantly with the age of the raised beds, indicating greater compaction over time. The PR and soil moisture data provided insights into soil structure and compaction that could help minimize degradation in the orchards.