Donkeys (Equus asinus) play a vital role in supporting rural and peri-urban livelihoods across Kenya, yet their welfare remains poorly characterised and often compromised by human practices and environmental pressures. This study examined welfare challenges and opportunities across seven counties representing urban, high-potential, semi-arid, and arid production systems. A total of 392 donkeys were assessed using the Standardised Equine-Based Welfare Assessment Tool (SEBWAT), and structured interviews were conducted with owners to capture practices and environmental contexts. Data were analysed using descriptive statistics and multivariable logistic regression. Approximately 80% of donkeys exhibited at least one welfare concern. Common problems included poor body condition (48.2%), spinal pain (46.9%), lameness (33.4%), and mutilations (41.6%). Variation was observed across systems with donkeys in urban and high-potential areas showing more spinal sensitivity and behavioural distress. Key predictors of poor welfare included work type, terrain, limited veterinary access, housing, owner negligence, and donkey age ≥ 6 years. Owners prioritised community education (64.5%), veterinary outreach (52.0%), humane handling (27.3%), and improved access to feed and water (21.9%) as key interventions. These findings provide insights for designing targeted, context-specific interventions. A holistic approach addressing both human and environmental challenges is essential for safeguarding donkey welfare and protecting livelihoods.