Ineffective management of pastures still constitutes the main problem in the Brazilian livestock industry, in which recovery of soil fertility is a determinant for soil restoration. In this context and in combination with the adoption of sustainable technologies, the use of plant-growth-promoting bacteria (PGPB) may represent an alternative to the use of chemical fertilisers that would reduce costs and environmental impacts. In this study, morphogenetic and structural characteristics were evaluated in three Urochloa (syn. Brachiaria) varieties. Urochloa is a genus that is present in the most degraded pastures in Brazil. The three varieties were inoculated with five PGPB (Azospirillum brasilense Ab-V5 and Ab-V6, Pseudomonas fluorescens CCTB 03 and ET76, and Pantoea ananatis AMG521) and treated with different doses of nitrogen (N) fertiliser (0, 50 and 100 kg N ha^–1) in pots filled with sandy soil under greenhouse conditions. In general, for Marandu grass U. brizantha cvv. BRS Paiaguás and Xaraés, the best performances for leaf and stem elongation rates and number of basal tillers were obtained with strains CCTB 03 and AMG521. For U. ruziziensis, the best performance in the duration and rate of renewal of leaves and leaf senescence was observed with strains AMG521, Ab-V5 and Ab-V6. This result indicated the specificity of the effects of bacterial strains on different genotypes of Urochloa. Differences in the interactions between PGPB and N fertilisation were also verified. In U. brizantha, interaction effects were additive, whereas in U. ruziziensis, they were competitive. The results indicate the feasibility of inoculation of Urochloa with elite strains of PGPB that positively affect the production of forage biomass and allow reductions in N fertiliser usage.