Seed vigor is an important aspect of seed quality. High-vigor seeds show rapid and uniform germination and emerge well, especially under adverse environmental conditions. Here, we determined hydrotime model parameters by incubating seeds at different water potentials (0.0, −0.2, −0.4, −0.6, and −0.8 MPa) in the laboratory, for 12 seed lots of Chinese milk vetch (Astragalus sinicus) (CMV), a globally important legume used as forage, green manure, and a rotation crop. Pot experiments were conducted to investigate the seedling emergence performance of 12 CMV seed lots under control, water stress, salinity stress, deep sowing, and cold stress conditions. Meanwhile, the field emergence performance was evaluated on two sowing dates in June and October 2022. Correlation and regression analyses were implemented to explore the relationships between hydrotime model parameters and seedling emergence performance under various environmental conditions. The seed germination percentage did not differ significantly between seed lots when seeds were incubated at 0.0 MPa, whereas it did differ significantly between seed lots at water potentials of −0.2, −0.4, and −0.6 MPa. The emergence percentage, seedling dry weight, and simplified vigor index also differed significantly between the 12 seed lots under various environmental conditions.Ψb(50)showed a significant correlation with germination and emergence performance under various environmental conditions; however, little correlation was observed betweenθHorσφband germination and emergence. These results indicate thatΨb(50)can be used to estimate seed vigor and predict seedling emergence performance under diverse environmental conditions for CMV and similar forage legumes. This study will enable seed researchers, plant breeders, and government program directors to target higher seed vigor more effectively for forage legumes.