This chapter reviews the development of urban agriculture policy making. It assesses the key dilemmas, challenges and tensions involved in creating policy frameworks for urban agriculture. The chapter discusses examples of cities that have developed an urban (food and) agriculture policy: Rosario (Argentina), Belo Horizonte (Brazil), Antananarivo (Madagascar), and Toronto (Canada). Based on the dilemmas, challenges and tensions faced by urban policymakers, as well as these four examples, conclusions on future policy development are drawn and trends and priorities for future research are identified.