Increasing atmospheric concentrations of greenhouse gases has caused grievous global warming and associated consequences. Lowering carbon footprint to promote the development of cleaner production demands the immediate attention. In this study, the carbon footprint calculations were performed on five cropping systems in North China Plain from 2003 to 2010. The five cropping systems included sweet potato → cotton → sweet potato → winter wheat–summer maize (SpCSpWS, 4-year cycle), ryegrass–cotton → peanut → winter wheat–summer maize (RCPWS, 3-year cycle), peanut → winter wheat–summer maize (PWS, 2-year cycle), winter wheat–summer maize (WS, 1-year cycle), and continuous cotton (Cont C), established in a randomized complete-block design with three replicates. We used a modified carbon footprint calculation with localized greenhouse gas emissions parameters to analyze the carbon footprint of each cropping system per unit area, per kg biomass, and per unit economic output. Results showed that the lowest annual carbon footprint values were observed in SpCSpWS among the five cropping systems, which were only 27.9%, 28.2% and 25.0% of those in WS rotation system (the highest carbon footprint) in terms of per unit area, per unit biomass, and per unit economic output, respectively. The five cropping systems showed the order of SpCSpWS < Cont C < RCPWS < PWS < WS sorting by their annual carbon footprint calculated by all the three metrics above-mentioned. Results revealed that appropriate diversified crop rotation systems could contribute to decreased carbon footprint compared with conventional intensive crop production system in North China Plain.