In recent years, the production of renewable energy represents one of the main challenges of modern and future society. The new cultivation method called Agrivoltaic (hereafter AV), combines and associates agricultural production and renewable energy (photovoltaic) production in a collaborative synergy from which both benefit. In this study, the dry matter and essential oils yield of six medicinal species (Salvia officinalis L., Origanum vulgare L., Rosmarinus officinalis L., Lavendula angustifolia L., Thymus citriodorus L. and Mentha spicata L.) grown underneath a dynamic AV system in comparison to those in full sun (T), were evaluated. In particular, below the dynamic AV system, due to the rotation of the panels, two plot areas on the ground were distinguished: one always covered by the panels (UP), and another one covered alternatively (BP). During the aromatic crop cycles, the solar radiation, infrared leaf temperature and air temperatures in UP, BP and T plot, were measured. In addition, at harvest time, weed survey was carried out. The results showed that, in general, the solar radiation and infrared leaf temperature were lower in UP plot than in either the BP and T plots, while the air temperatures were similar in all compared plots. Also the weed cover percentage was lower in the UP plot than other ones. The essential oils yield in the sage, thyme, mint and rosemary plants were higher in both UP and BP plots than for T plot. Thus, shading and/or less weed infestation may have been the main factors favorably influencing the performance of medicinal crops under a dynamic AV system.