Free-roaming cats and dogs impact biodiversity, public health, and the welfare of other animals. Attitudes towards free-roaming animals can influence their population dynamics and management success. We conducted an online survey to evaluate social perceptions and attitudes towards free-roaming animals among self-selected Portuguese residents aged 18 or older with internet access. The survey focused on responsible ownership, perceptions and attitudes, and management practices, and allowed the collection and analysis of 1083 responses (607 for dogs and 476 for cats). Our results identified needs for improvement in pet ownership: increasing pet cat identification, reducing unsupervised outdoor access, and promoting pet dog sterilization. In terms of management strategies, we found strong support for trap–neuter–release, sheltering, sanctions on abandonment, and educational campaigns. We also found limited support for lethal control methods and fear of culling and long-term caging as barriers to reporting free-roaming animals. While our findings are based on a self-selected online sample, they establish a foundation for future research while also offering valuable guidance for policymakers and stakeholders.