The purpose of this study was to investigate Agricultural infrastructure on sustainable livelihoods among the rural residents of Makueni County, Kenya. This study applied descriptive survey research design and used mixed method for data collection and analysis. The study targeted 362,105 people from two sub counties from which a sample size of 110 was drawn made up of both farmers and agricultural extension officers. The study used Disproportionate stratified random sampling techniques to select the sample size (farmers) and purposive to select the extension service providers. From the findings the mostly used approaches in reaching farmers were training in Barraza and farmer to farmer and were also reached via local radio stations. On the role of agricultural infrastructure the study found that, road transport was very unreliable and the most available means of transport was Farm animals. It was also found out that the County government provided some transport means to the local traders at minimal fee and especially during market days. Management was the main challenge facing farmer organizations leading to many withdrawing from the Sacco’s hence missing the benefits. It was recommended that the county government to expand the market via value chain. It should also collaborate with NGOs for the purpose of supporting sustainable rural agriculture. The County and National governments should collaborate to extend proper road and cost effective transport means of transport for the rural farmers. Key words: Infrastructure, Sustainable livelihoods, Resilience, Agricultural extension services