An interleaving successive approximation analog-to-digital converter (SAR ADC) with noise shaping having a first SAR block, a second SAR block, and a noise-shaping circuit is provided. The first and second SAR blocks take turns to sample an input voltage for successive approximation of the input voltage and observation of a digital representation of the input voltage. The noise-shaping circuit receives a first residue voltage from the first SAR block and receives a second residue voltage from the second SAR block alternately, and outputs a noise-shaping signal to be fed into the first SAR block and the second SAR block.