Cosmological shocks form as an inevitable consequence of gravitational collapse during the large scale structure formation and cosmic-rays (CRs) are known to be accelerated at collisionless shocks via diffusive shock acceleration (DSA). We have calculated the evolution of CR modified shocks for a wide range of shock Mach numbers and shock speeds through numerical simulations of DSA in 1D quasi-parallel plane shocks. The simulations include thermal leakage injection of seed CRs, as well as pre-existing, upstream CR populations. Bohm-like diffusion is assumed. We show that CR modified shocks evolve to time-asymptotic states by the time injected particles are accelerated to moderately relativistic energies (p/mc $ge$ 1), and that two shocks with the same Mach number, but with different shock speeds, evolve qualitatively similarly when the results are presented in terms of a characteristic diffusion length and diffusion time. We find that $10^{-4} - 10^{-3}$ of the particles passed through the shock are accelerated to form the CR population, and the injection rate is higher for shocks with higher Mach number. The CR acceleration efficiency increases with shock Mach number, but it asymptotes to ${~}50\%$ in high Mach number shocks, regardless of the injection rate and upstream CR pressure. On the other hand, in moderate strength shocks ($M_s {le} 5$), the pre-existing CRs increase the overall CR energy. We conclude that the CR acceleration at cosmological shocks is efficient enough to lead to significant nonlinear modifications to the shock structures.