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The limited culinary utilizations of durum wheat (<i>Triticum turgidum</i> ssp. <i>durum</i>) are partly related to its very hard kernel texture, which is due to the softness genes <i>Puroindoline a</i> (<i>Pina</i>) and <i>Puroindoline b</i> (<i>Pinb</i>) on the <i>Hardness</i> (<i>Ha</i>) locus eliminated during allopolyploid formation. A previous study has reported that the softness genes <i>Dina/Dinb</i>, homologous to <i>Pina/Pinb</i>, were located on the chromosome arm 5VS of wild species <i>Dasypyrum villosum</i>. In the present study, we describe the process of transferring the soft grain texture from <i>D. villosum</i> into durum wheat through homoeologous recombination to develop a Robertsonian translocation. A durum wheat–<i>D. villosum</i> T5AL·5V#5S translocation line, S1286, was developed and characterized by molecular cytogenetic analysis from BC₄F₂ progeny of durum cv. ZY1286/<i>D. villosum</i> 01I140. The translocation line S1286 exhibited a soft grain texture as evidenced by observation through an electron microscope and a Single Kernel Characterization System (SKCS) hardness value of 5.5. Additionally, a newly developed 5VS/5AS co-dominant InDel marker, <i>LW5VS-1</i>, facilitated the transfer of the T5AL·5V#5S translocated chromosome into diverse durum wheat backgrounds. Subsequently, the T5AL·5V#5S translocated chromosome was transferred into five high-yielding durum wheat backgrounds by backcrossing and traced using marker LW5VS-1. Compared with each recurrent parent, T5AL·5V#5S lines showed good viability, similar development, and no yield penalty. Meanwhile, a significant decrease in plant height of about 6.0% was observed when comparing T5AL·5V#5S translocation lines with their recurrent parents. Accordingly, our results provide an efficient strategy for developing soft kernel durum wheat through the combination of T5AL·5V#5S translocation and the co-dominant marker LW5VS-1, which will be crucial for meeting the future challenges of sustainable agriculture and food security.