Some animals definitely feel emotions, emotion are the basic workings of the brain, variations in neurotransmitters used to tag experiences and alter behavior. If it has a brain and is capable of learning it probably feels some emotions, even if only pleasure or discomfort because that is how learning affects ("codes") an experience for association.
Not every animal is going feel them all or feel them at all. "Animal" covers a very wide group, a sponge is an animal and almost certainly feels no emotions as it lacks a brain or substantial nervous system, on the other hand humans are the group we use to define emotions are are also animals. But exactly which emotion each animal experiences is impossible to say at the moment, we can't even say for certain every human experiences every emotion. And currently discreet definitions for emotions elude us.
As for specific emotions, as far as we can tell every basic emotion humans experience is represented somewhere in the animal kingdom, and most the basic human emotions may be at least common to mammalia. It is extremely unlikely emotions arrose ex nihilo in humans given the similarities in behavior between humans and other animals, especially other primates. Bonobo's for instance even show similar emotional managements skills to humans.
A consensus is a tricky term, emotion in animals has been a taboo subject for a long time, and there are still pockets that assume animals experience no emotions and operate on pure logic like a robot, but this view has never withstood scrutiny. I tired to present the closest thing we have ot a consensus.
Mammalian associative learning has been the most well studied for obvious reasons, but there is no reason to believe it is unique given similarities in behavior with other groups.Yes the brain works like a different engine but emotions is how our difference engine operates, how it codes experiences.