"The grave environmental crisis facing our world demands an ever greater sensitivity to the relationship between human beings and nature," he told Kenyan political leaders in the capital Nairobi, shortly after arriving in the east African country.
"There is a clear link between the protection of nature and the building of a just and equitable social order."
Francis has taken on a vocal role in the fight against climate change, injecting a moral voice into a debate usually dominated by economic and political concerns.
The 78-year-old pontiff said environmental concerns should be at the forefront of "responsible" economic development.
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"Kenyan people... Are known for a culture of conservation, which does you honour," he said.
"We have a responsibility to pass on the beauty of nature in its integrity to future generations, and an obligation to exercise a just stewardship of the gifts we have received. These values are deeply rooted in the African soul.
The pontiff also drew a "clear link" between climate concerns and social justice.
"In effect, there is a clear link between the protection of nature and the building of a just and equitable social order," he said. "There can be no renewal of our relationship with nature, without a renewal of humanity itself."
The leader of the world's 1.2 billion Catholics took a firm stance on environmental issues earlier this year, issuing a lengthy 'encyclical' which said climate change was primarily man-made and one of the main challenges facing humanity.
He is also expected to address climate issues again on Thursday when he visits the Nairobi headquarters of the UN's Environment Programme (UNEP) and Human Settlements Programme (UN-Habitat).