This publication provides a set of orientations for member countries to develop agricultural innovation and extension policies to underpin agrifood systems transformations towards sustainability. It highlights key policy areas, including (1) facilitating agricultural innovation system assessment; (2) identifying innovation agendas; (3) advancing research for sustainable development; (4) strengthening the public extension and advisory services system; (5) promoting pluralistic extension and advisory services; (6) developing sustainable innovation models; (7) building capacities for innovation; (8) reducing innovation transaction costs; (9) driving entrepreneurship in the agrifood system; (10) reinforcing intellectual property protection; and (11) managing innovation-induced risks. This publication is to be used as a reference for tailored policymaking according to specific country contexts.