Livestock farming is a livelihood activity and is critically important for the food and nutritional security of the majority of the population in West African countries, including Senegal. Nevertheless, livestock farming operates far below the optimum production potential, mainly due to demographical, biophysical, economic, environmental, and sociopolitical challenges. To address these issues, we conducted this review with an overall objective of characterizing different livestock farming systems and to identify challenges and opportunities to improve livestock production in West Africa through the broader perspectives from the case of Senegal. Pastoral, agropastoral, and off-land systems are the three major livestock production systems in this region, which are unique in terms of agroclimatology and degree of intensification and integration. The major challenges identified in livestock farming systems are lack of pasture and quality feed, scarcity of water resources, climate change, undeveloped breeding and management of livestock, poor marketing and trade, and socioeconomic constraints. Moreover, we contribute to the literature on crop-livestock farming in Senegal and West Africa by proposing plausible interventions to improve the productivity of the farming system to improve food and nutritional security. Concentrated efforts must be taken in co-designing effective management interventions for sustainable intensification of livestock sector in the region, considering site-specific approaches.