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Alfalfa (Medicago sativa L.) is the most widely grown forage legume crop worldwide. Yield and plant height are important agronomic traits influenced by genetic and environmental factors. The objective of this study was to identify quantitative trait loci (QTL) and molecular markers associated with alfalfa yield and plant height. To understand the genetic basis of these traits, a full-sib F1 population composed of 392 individuals was developed by crossing a low-yielding precocious alfalfa genotype (male parent) with a high-yielding late-maturing alfalfa cultivar (female parent). The linkage maps were constructed with 3818 single-nucleotide polymorphism (SNP) markers on 64 linkage groups. QTL for yield and plant height were mapped using phenotypic data for three years. Sixteen QTL associated with yield and plant height were identified on chromosomes 1 to 8. Six QTL explained more than 10％ of phenotypic variation, representing major loci controlling yield and plant height. One locus on chromosome 1 controlling yield traits had not been identified in previous studies. Three QTL co-located with other QTL (qyield-1 and qheight-7, qheight-5 and qyield-4, qheight-6, and qyield-6). With further validation, the markers closely linked with these QTL may be used for marker-assisted selection in breeding new alfalfa varieties with high yield.