The aim of this study was to evaluate the critical soil bulk density from the soil penetration resistance measurements for soybean root growth in Brazilian Amazon Oxisols. The experiment was carried out in a greenhouse using disturbed soil samples collected from the northwest of Para characterized by different texture. The treatments consisted of a range of soil bulk densities for each soil textural class. Three pots were used for soybean growth of and two for the soil penetration resistance curve. From the fitted model, the critical soil bulk density was determined considering the penetration resistance values of 2 and 3 MPa. After sixty days, plants were cut and root length, dry mass of root, and dry mass of shoots were determined. At higher bulk densities, the increase in soil water content decreased the penetration resistance, allowing unrestricted growth of soybean roots. Regardless of soil texture, the penetration resistance of 2 and 3 MPa had a slight effect on root growth in soil moisture at field capacity and a reduction of 50% in the soybean root growth was achieved at critical soil bulk density of 1.82, 1.75, 1.51, and 1.45 Mg m^-3 for the sandy loam, sandy clay loam, clayey, and very clayey soil.