An analog-to-digital converter includes a filter having an input for receiving, via a summing node, a signal derived from the analog input signal. A first quantizer produces a first digital signal from a signal derived from the output of the filter. A feedback loop feeds a signal derived from the first digital signal to be combined in analog form with the signal derived from the analog input signal at the summing node, so that the filter in use receives an error signal representing the difference between the signal derived from the analog input signal and the analog representation of the first digital signal. An error signal filter filters the error signal to remove noise outside the passband of the analog-to-digital converter. A second quantizer produces a second digital signal representative of the filtered error signal, and a combining circuitry combines the first and second digital signals to produce a digital output signal representative of the analog input signal.