<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2025 Workiva-->
<!--r:fb04d796-5a41-478d-89d8-2dee32e8e7ae,g:203b800a-8bdf-4522-99b1-debecccafa7b-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:agco="http://www.agcocorp.com/20250321" attributeFormDefault="unqualified" elementFormDefault="qualified" targetNamespace="http://www.agcocorp.com/20250321">
  <xs:import namespace="http://www.xbrl.org/2003/linkbase" schemaLocation="http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/dei-sub/2024" schemaLocation="https://xbrl.sec.gov/dei/2024/dei-sub-2024.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/ecd-sub/2024" schemaLocation="https://xbrl.sec.gov/ecd/2024/ecd-sub-2024.xsd"/>
  <xs:annotation>
    <xs:appinfo/>
  </xs:annotation>
</xs:schema>