Agroforests are man-made ecosystems in which crops are associated with a main perennial species like Robusta Coffee Agroforests (RCAs), which is counted among the main modes of perennial crops production in Cameroon. Despite the rich ecosystem services provided, the diversity of Associated Species (AS) found in these RCAs and the structure of the landscapes they form remain little known in Cameroon. The current study aimed to inventory AS and characterize the structure of RCAs in four sites (Ayos, Malantouen, Melong and Nkongsamba) belonging to three robusta coffee production basins in Cameroon. A systematic inventory with dendrometric measurements of the wood AS and coffee trees was carried out on 120 one-hectare plot unit, i.e. 30 plots per site. The results showed that 102 AS belonging to 83 genera and 41 families were identified in these RCAs. The RCAs of Ayos in the dense rainforest zone with bimodal rainfall pattern were the most diverse with 71 species, followed by those of Melong and Nkongsamba with respectively 39 and 33 species respectively in the dense rainforest zone with monomodal rainfall pattern, and Malantouen with 33 species in the high savannahs of the west. Structurally, average coffee tree and AS densities founded ranged from 1208 -1456 plants/ha and 71 -214 stems/ha and those of basal area from 7.29 -17.40 m 2 /ha for coffee trees and 7.97 -16.14 m 2 /ha for AS in function of site. Basis on the vertical stratification, the proportion of the 3 -6 m stratum, which