The tech maverick made the statement on Monday, while speaking about SpaceX's plans to colonise the Red Planet.
"The next really big thing [after landing humans on the planet] is to build a self-sustaining city on Mars and bring the animals and creatures of Earth there. The goal overall has been to make life multi-planetary and enable humanity to become a spacefaring civilisation", Musk said.
"Humans might be smart enough to don oxygen breathing systems, but would an animal be smart enough to adjust such a system if it was falling off its face? I don't think so. We would end up with a lot of dead animals. Let's try botanical gardens first", said Roger Wiens, who is leading the SuperCam laser instrument on the Perseverance rover on Mars.
"If we are someday to build a human civilisation on Mars that is self-sustaining, then yes, we will have to do the Noah's Ark thing at some level. Is Musk anywhere close to doing this - not at all. We have just begun to tiptoe into space", Mr McDowell said, adding that it will take centuries until humans can raise animals on the Red Planet.
Professor Dave Brain, an assistant professor of astrophysics and planetary science at the University of Colorado at Boulder, said Elon Musk raised relevant questions.
"We don't know how to do this yet, and it's not clear that this is feasible for Mars. But without people pushing on the idea it will take a very long time to find an answer", he said.