Agroforestry integrates trees and shrubs into agricultural landscapes, offering ecological stability, enhanced soil health, and diversified farmer incomes. In Jaipur’s semi-arid regions, this practice addresses challenges like water scarcity and soil degradation. This study aims to optimize tree selection for agroforestry by evaluating the growth, economic viability, carbon sequestration potential, and soil nutrient enhancement of five tree species: Azadirachta indica (Neem), Prosopis cineraria (Khejri), Acacia nilotica (Babool), Dalbergia sissoo (Shisham), and Moringa oleifera (Drumstick). Field trials were conducted across three sites representing varied agro-climatic conditions. Parameters such as survival rate, height, diameter at breast height (DBH), canopy development, biomass production, and economic returns were measured. Neem and Khejri exhibited superior growth, high biomass yields, and economic benefits. Neem had the highest aboveground biomass (16.5 tons/ha) and substantial carbon sequestration (7.5 tons/ha). Both species significantly improved soil nutrients, enhancing soil organic carbon and nitrogen levels. Conclusively, Neem and Khejri emerge as optimal choices for agroforestry in Jaipur due to their robust performance and multifunctional benefits, providing a model for sustainable land management in similar semi-arid regions.