Fiber supplemented extruded foods are produced by pet food companies to help with several specific health conditions. The fiber material, however, is difficult to incorporate efficiently into dry kibble diets for dogs. The aim of the study was to evaluate the influence of citrus pulp pellet (CPP), the solid waste part of the production of orange juice characterized by a good proportion of soluble and fermentable fiber, on extrusion traits, kibble macrostructure, starch gelatinization and in vitro digestibility of dog foods. A control formula (CO) was developed for dogs. CPP was added to CO at different inclusion levels: 5%, 10%, 15% and 20%. Foods were extruded in a single screw extruder using two different die diameters (dd): 5 mm and 7 mm. CPP inclusion with 5 mm dd did not affect bulk and piece density and resulted in a lower impact on kibble expansion; It also resulted in greater starch gelatinization and kibble expansion compared to the 7 mm dd configuration (p < 0.01). In addition to the nutritional implications, recycling and proper uses of this material exemplified in the present study by the exploration of CPP as a fiber source to dogs, this method can improve sustainable agriculture by transforming low-quality materials into high-quality foods.