An analog-to-digital converter (ADC) having integrator dither injection and quantizer output compensation reduces the probability of unchanging code sequences that occur when the input signal and feedback signal are equal and thus no quantizer output change occurs. In particular, in modulators that are periodically reset, the dither reduces the probability of a stuck code sequence at startup. The effect of the dither is removed from the output of the ADC, either by subtracting an offset value from the result of filtering the quantizer output, or directly from the quantizer output itself.