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The transition from natural habitat to agricultural land use is widely regarded as one of the leading drivers of biodiversity loss. Despite this, most wildlife still lives outside protected areas on private agricultural land, particularly on rangeland used for livestock grazing. Understanding which species persist and which decline in agricultural landscapes is important for global biodiversity monitoring, management and conservation. In this study, we used hierarchical multi-species occupancy modelling to estimate terrestrial vertebrate (body mass > 0.5 kg) richness in the Karoo, a semi-arid region of South Africa. We evaluated species-specific responses to different anthropogenic and environmental variables in rangeland and a nearby protected area of similar size. We grouped mammal species according to trophic guild and body size and compared their occurrence between areas. In total we detected 42 species over 4035 6-day pooled trap nights across 322 sites. Community species richness was not significantly different between the two types of land use and decreased with increasing elevation in the protected area. Human disturbance did not affect individual species occupancy in either area. Carnivores, omnivores and medium-sized species occupancy probabilities were similar between the two areas but were higher for herbivores and large species in the protected area and for insectivores and small species in rangeland. Our results reveal that drylands in the South African Karoo region, including rangeland used for small-livestock fanning, support a diverse community of terrestrial vertebrates. Private landowners are thus important custodians of key components of indigenous biodiversity outside of protected areas, especially in low-lying areas.