This open access book offers a comprehensive understanding of yoga theory and practice as it bears on several dimensions of animal-related ethical reflection and action. "Yoga" has become a household word in recent decades and, increasingly, has drawn physical yoga practitioners to explore its philosophy; significantly, classical yoga philosophy and praxis are deeply grounded in realizing the self in relation with all beings as non-material selves. Therefore yoga provides an ideal entry-way into contemporary animal ethics discourse, contributing particularly in its appeal to the experiential dimension of human self-understanding in relation to nonhuman animals.