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Simple Summary: Fewer than 200 manatees are hosted permanently by zoological parks worldwide. Their living conditions differ considerably from zoo to zoo. Recent research on ecology, acoustics, cognition and behaviour has changed the perception humans have on manatees with implications for their welfare. Using the five-model approach, this study examines our current knowledge on manatees' behaviour and cognition, and suggests ways to improve their welfare in zoological parks. The order Sirenia comprises several species of manatees and one species of dugong. These popular marine mammals are relatively recent acquisitions to zoological parks throughout the world. As far as we know, there are less than 200 manatees, mostly American, a few African, and ever less Amazonian, currently in zoological parks. American manatees are predominantly found in zoos in Europe, North America, and in some Asian countries, while African ones are present exclusively in Asian zoos. The living conditions of captive manatees differ considerably from zoo to zoo (i.e., numbers, sex ratio, outdoor vs. indoor habitats, complex vs. simple habitats). Most research on manatee behaviour has been relatively recent, and studies on cognition, sociality, and ecology have a significant impact on our perception of manatee needs and management, with wider implications for their welfare. In the wild, manatees demonstrated various cognitive capacities; spatial memory and learning abilities play an important role in their daily life in a complex and dynamic environment. Furthermore, there is evidence that these mammals are more social animals than expected. Individuals show various personality traits on the boldness–shyness continuum and their sociality varies. All those parameters are important in terms of animal welfare. Several behavioural studies showed that standardized enrichment programs benefit and ensure the welfare of captive zoo animals. However, obtaining accurate information on the presence of manatees in zoos, living conditions, management, and consequently welfare remains challenging. This study examines the current knowledge on manatee behaviour and cognition and then discusses different approaches to improving the welfare of this charismatic marine mammal in zoological parks. [ABSTRACT FROM AUTHOR]