A device for collecting animal waste comprising: - a linearly extending kinematic mechanism extending between a first end portion and a second end portion opposite to each other, and configured to move between a retracted configuration, in which the first end portion and the second end portion are in a proximal position, and an extended configuration, in which the first end portion and the second end portion are in a distal position; - an actuating handle connected to the first end portion and configured to actuate the linearly extending kinematic mechanism in a reversible manner between the retracted configuration and the extended configuration, and vice versa, - retaining means configured to retain a bag adapted to receive the animal waste, said linearly extending kinematic mechanism being configured to arrange, in the extended configuration, said retaining means at the animal's anal area so that the bag can receive the animal waste; characterized in that the device further comprises an opening and closing mechanism of the bag interposed between the second end portion of the linearly extending kinematic mechanism and the retaining means and configured to switch the retaining means reversibly between a resting configuration, in which the bag is substantially closed during the retracted configuration of the linearly extending kinematic mechanism, and an operating configuration, in which the bag is opened during the extended configuration of the linearly extending kinematic mechanism; wherein said linearly extending kinematic mechanism comprises a sequence of arms hinged to one another and being mutually rotatable to implement a pantograph-type mechanism. - a linearly extending kinematic mechanism extending between a first end portion and a second end portion opposite to each other, and configured to move between a retracted configuration, in which the first end portion and the second end portion are in a proximal position, and an extended configuration, in which the first end portion and the second end portion are in a distal position; - an actuating handle connected to the first end portion and configured to actuate the linearly extending kinematic mechanism in a reversible manner between the retracted configuration and the extended configuration, and vice versa, - retaining means configured to retain a bag adapted to receive the animal waste, said linearly extending kinematic mechanism being configured to arrange, in the extended configuration, said retaining means at the animal's anal area so that the bag can receive the animal waste; characterized in that the device further comprises an opening and closing mechanism of the bag interposed between the second end portion of the linearly extending kinematic mechanism and the retaining means and configured to switch the retaining means reversibly between a resting configuration, in which the bag is substantially closed during the retracted configuration of the linearly extending kinematic mechanism, and an operating configuration, in which the bag is opened during the extended configuration of the linearly extending kinematic mechanism; a resting configuration, in which the bag is substantially closed during the retracted configuration of the linearly extending kinematic mechanism, and an operating configuration, in which the bag is opened during the extended configuration of the linearly extending kinematic mechanism; wherein said linearly extending kinematic mechanism comprises a sequence of arms hinged to one another and being mutually rotatable to implement a pantograph-type mechanism.