Agriculture in Western Europe has become efficient and productive but at a cost. The quality of biodiversity, soil, air, and water has been compromised. In the search for ways to ensure food security and meet the challenges of climate change, new production systems have been proposed. One of these is the transition to circular agriculture: closing the cycles of nutrients and other resources to minimise losses and end the impact on climate change. This development aims to address existing problems in (...) food production but also raises questions about animal health and welfare. Although the role animals can play in this development is not ignored, the animal welfare dimension of circular agriculture seems to be overlooked. We argue that this is a problem both for the success of circular agriculture and for the animals involved. To substantiate this claim, we analyse the background to this lack of attention, which we find in (a) the way circular agriculture is conceptualised; (b) the institutional hurdles related to the legal, political and economic context; and (c) the concept of animal welfare, which requires further innovation. By analysing these aspects, we develop stepping stones for an animal-welfare inclusive concept of circular agriculture. These stepping stones include: recognising the animal as a participant with its own interests in the innovation towards circular agriculture; using a dynamic concept of animal welfare; a concept of circularity that provides space for social values, including animal welfare; and attention to institutional innovation by improving public engagement and building trust. (shrink)