Woody encroachment has driven drastic declines in grassland biodiversity and productivity. In the U.S. Great Plains, high-intensity prescribed fire is increasingly being used to shift encroaching redcedar woodlands to a grassland state. High-intensity fire treatments drive redcedar mortality and increase herbaceous biomass. However, it is unclear how grassland community composition recovers following stand-consuming fire. We contrast herbaceous community composition, basal cover, and species richness in woodlands treated with stand-consuming high-intensity fire to reference grassland and woodland sites to examine whether high-intensity fires facilitate restoration of grassland communities. To determine the long-term outcomes of high-intensity fire treatments, we use a space-for-time substitute to measure changes to herbaceous community and species richness over a time-since-fire gradient of 17 years. We found that herbaceous cover and species richness increased substantially in woodlands treated with stand-consuming high-intensity fire compared to unburned woodlands, and that these values were similar to those observed in both burned and unburned grasslands. Herbaceous community composition in woodlands treated with high-intensity fire also shifted towards grasslands, though some legacies of woodland communities persisted. Time-since-fire generally did not have a large influence on total herbaceous cover or species richness through time, though grass cover decreased in woodlands treated with high-intensity fire a decade post-treatment. Our findings suggest that a single high-intensity fire can support the restoration of herbaceous plant species richness and cover, and shift community composition to a grassland regime, though additional low-intensity fire treatments may be necessary to erode legacies from the encroached state.