Anaerobic digestion of animal manure is a potential bioenergy resource that avoids greenhouse gas emissions. However, the conventional approach is to use continuously stirred tank reactors (CSTRs) with hydraulic retention times (HRTs) of greater than 30 d. Reactors with biomass retention were investigated in this study in order to increase the efficiency of the digestion process. Filtered pig slurry was used as a substrate in an expanded granular sludge bed (EGSB) reactor and fixed-bed (FB) reactor. The highest degradation efficiency (ηCOD) and methane yield (MY) relative to the chemical oxygen demand (COD) were observed at the minimum loading rates, with MY = 262 L/kgCOD and ηCOD = 73% for the FB reactor and MY = 292 L/kgCOD and ηCOD = 76% for the EGSB reactor. The highest daily methane production rate (MPR) was observed at the maximum loading rate, with MPR = 3.00 m3/m3/d at HRT = 2 d for the FB reactor and MPR = 2.16 m3/m3/d at HRT = 3 d for the EGSB reactor. For both reactors, a reduction in HRT was possible compared to conventionally driven CSTRs, with the EGSB reactor offering a higher methane yield and production rate at a shorter HRT.