Livestock production remains the cornerstone of pastoral livelihoods and economic development across the Arid and Semi-Arid Lands (ASALs) of Sub-Saharan Africa. This study employed a systematic literature review to examine livestock production systems, marketing practices, and development interventions within pastoral and agro-pastoral areas, with particular relevance to Kenya and the Horn of Africa. The review synthesized evidence on pastoral production systems, animal husbandry, nutrition and feed management, genetic improvement, livestock value chains, leather industry development, rangeland management, ecosystem conservation, and climate change adaptation. The findings indicate that livestock contributes significantly to household incomes, food security, employment, and national economies, while also serving important social and cultural functions within pastoral communities. However, the sector faces persistent challenges including recurrent droughts, climate change, rangeland degradation, feed shortages, livestock diseases, weak market integration, inadequate infrastructure, and limited access to production support services. The review further highlights the growing transition from subsistence-oriented pastoralism toward market-oriented livestock production, particularly in areas with stronger links to urban markets. Evidence from the reviewed studies demonstrates that sustainable livestock development requires integrated interventions encompassing improved animal husbandry, enhanced feed and fodder systems, genetic improvement, sustainable rangeland management, value addition, and strengthened market systems. Climate-smart livestock production, ecosystem-based resource management, and gender-inclusive approaches were identified as critical components for building resilience among pastoral communities. The study also underscores the untapped potential of livestock value chains, particularly leather processing and other value addition enterprises, in generating income and promoting economic growth. The study concludes that achieving sustainable pastoral development requires balancing livestock productivity, market integration, and environmental sustainability. Strengthened policy support, increased investment, institutional coordination, and community participation are essential for enhancing resilience, improving livelihoods, and ensuring the long-term sustainability of pastoral livestock systems in Kenya and other dryland regions of Sub-Saharan Africa.