The invention provides a method of and a device for cleaning teats (2), wherein a fixed teat sequence is maintained, and wherein the teat cleaning tool (8) is disinfected after cleaning of an infected teat. Health information of the condition of infection of the teats may have been entered beforehand into a control device, or may real-time be determined by means of a teat health determination device. Advantages are a simple, little stressful teat cleaning for the animals, and the possibility to anticipate changed teat health in an optimum manner.
