The commercial development of information-intensive precision agriculture technologies has given rise to a number of applications aimed at improving agricultural production through site-specific management, including precision tillage. This chapter describes developments in on-the-go soil strength sensing and the state of the art in sensor technology as applied to precision tillage. The chapter examines depth-prescribed tillage to control subsoil compaction, techniques of soil sensing to enable precision tillage and how to extract information from soil sensors. Finally, the chapter looks at the challenge of implementing depth control and tractor/implement guidance technology.