This book constitutes the revised selected papers of the 5th International Workshop on Active Inference, IWAI 2024, held in Oxford, UK, during September 9-11, 2024. The 17 full papers included in this book were carefully reviewed and selected from 54 submissions. They were organized in topical sections as follows: Modeling Behaviour and Emotions; Hybrid Continuous-discrete Systems; Structure Learning; Multi-agent Systems; Epistemic Sampling; Robot Control; and Sustainability and Contextuality.