Improving fuel and energy efficiency in agricultural tillage is critical for sustainable farming and reducing environmental impacts. In this study, the effects of forward speed and tillage depth on the fuel efficiency parameters of a tractor–chisel plough combination were investigated under controlled field conditions on clay soil. Specific fuel consumption (SFC), fuel consumption per unit area (FCPA), and overall energy efficiency (OEE) were evaluated at four forward speeds (0.6, 0.95, 1.2 and 1.4 m·s⁻¹) and four tillage depths (15, 19.5, 23 and 26.5 cm). SFC ranged from 0.519 to 1.237 L·kW⁻¹·h⁻¹, while OEE varied between 7.918 and 18.854%. Higher forward speeds significantly reduced fuel consumption and improved energy efficiency, whereas deeper tillage increased fuel use and reduced efficiency. Optimal operation occurred at speeds of 1.2–1.4 m·s⁻¹ and shallow to medium depths. Five machine learning algorithms: Polynomial Regression (PL), Random Forest Regressor (RFR), Gradient Boosting Regressor (GBR), Support Vector Regression (SVR), and Decision Tree Regressor (DTR), were applied to model fuel efficiency parameters. RFR achieved the highest accuracy for predicting SFC, while PL performed best for FCPA and OEE, with the mean absolute percentage error (MAPE) below 2%. Models such as PL and RFR excel in data structures dominated by nonlinear relationships. These results highlight the potential of machine learning to guide data-driven decisions for fuel and energy optimization in tillage, promoting more sustainable mechanization strategies and resource-efficient agricultural production.