The work of Jakob von Uexküll is primarily known for his theory of Umwelt and, more generally, for assigning a pivotal role to the subjective dimension of the animal in biological investigations. Although von Uexküll’s ideas have been widely discussed in the history of Western science and philosophy, a renewed interest in his theories has been observed in recent years. More specifically, ecological psychology and enactivism, two major traditions in radical embodied cognitive science, have increasingly started to look at the work of von Uexküll not as a mere historical influence, but rather as a possible theoretical resource in the context of contemporary debates. In this essay, we first look at the respective receptions of von Uexküll in the ecological and the enactive approach and then examine some recent proposals that used his ideas either as correctives to their individual limitations or to throw a bridge aimed at guaranteeing theoretical coexistence between the two views. We conclude by speculating on the future directions concerning von Uexküll’s possible contribution to the debates in embodied cognition