<p>Estimation of irrigation water requirements and of irrigation schedule takes priority in irrigation planning, which influences water and energy use. Despite the abundant literature on Precision Agriculture (PA) adoption, which have great potential to reduce water and energy use, irrigation planning is underexplored, likewise farmer behavior. This study aims at exploring the factors related to irrigation planning affecting PA adoption, focusing on water and energy use, and farmer behavior; building a theoretical model of irrigation planning based on the explored factors; exploring the relationships between water use, energy use and PA adoption through a simulation model based on the theoretical model. A mixed method, consisting of case studies, irrigation planning modeling and simulation, was applied. A set of factors in irrigation planning was identified, complementing previous studies on PA adoption. The factors were arranged in a theoretical model emphasizing their relationships through mediating factors. Based on case studies and farmers’ perceptions, this work provides contributions by including factors related to irrigation planning and farmer behavior, and suggests that data collected from sensing technologies, Irrigation Management System, water and energy supply contracts can benefit the farmer in reducing water and energy use, depending on the sensing technology adopted. This allows improving irrigation planning process, water and energy resource utilization and farm sustainability. A System Dynamics simulation model highlighted that planned water use, energy use, and associated costs were higher in the adoption of satellite compared to local weather station, considering center pivot irrigation system and the whole harvest.</p>