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[Zambaku]

I've done like the wiki said and did the q, a, enter command on the cage to release the animals, but I only get a message saying the animal can't be released, an empty cage is needed, the hell?

[slink]

That message tells you that DF is trying to put the animals in another cage.  If the animal is not both tame and a member of your civilization, then you cannot simply release them in that fashion.

If you are trying to release a wild animal, or one stolen from a caravan, then you must place the cage and open it with a lever.

[Retro]

There's another way to do it, but the specifics are annoying and hard to remember. I think if you build an empty cage and then assign the animal to it from its cage lying in your stockpile, a dwarf will grab it and walk it two steps to the cage, then SEE the wild animal it's dragging and flip out and run. Not sure if this is the exact method, but every time I want to release a wild thing without spending time linking levers I have to mess around with this. You can bugger around with which cage is built and with isn't until it works. It's rather annoying, as you can already see.

[Derakon]

You can also try to pit any animal. Just designate a pit zone and assign the animal to it. A dwarf will come along, pull the animal out of its cage, and toss it into the pit. Of course, the "pit" could just be "off the side of your wall", thereby releasing the creature.