The use of animals for work is an ancient activity that has allowed communities to develop in different aspects including transport, agriculture, and forestry. The most frequent species used as a source of animal power are bovids, equids, camelids, and elephants, and putting aside the differences between species, a common aspect is that their welfare will largely depend on the human-animal interactions they have with their handlers. The number of interactions that occur between a working animal and its handler is higher than in other activities that involve animals and will shape the type of bond formed. Some factors that can affect the nature of these interactions are the handler’s empathy and knowledge, the implements used and the environment in which the animal is asked to perform, all of which can affect animal welfare. Since working animals can have an important positive impact on people’s livelihoods and sustainability, it is crucial to develop strategies that protect their welfare and at the same time allow the promotion of human well-being and resilience of vulnerable communities.