Natural resources such as soil and water are essential to agriculture, especially in arid and semi-arid rain-fed areas, yet the impacts of managing these crucial natural resources on farm technical efficiency are little known. Using data from 400 households with 1031 plots, we examined the impacts of soil and water conservation measures (SWCMs) on the technical efficiency of farmers in the semi-arid Bundelkhand (central India). We estimated stochastic production frontiers, considering potential self-selection bias stemming from both observable and unobservable factors in the adoption of SWCMs at the farm level. The farm technical efficiency for adopters of SWCMs ranged from 0.68 to 0.72, and that for non-adopters ranged from 0.52 to 0.65, depending on how biases were controlled for. As the average efficiency is consistently higher for adopter farmers than the control group, promoting SWCMs could help to increase input use efficiency, especially in resource-deprived rain-fed systems in the semi-arid tropics.