Recent advances in reinforcement learning (RL) using numerical rewards have significantly enhanced the complex reasoning capabilities of large language models (LLMs). However, we identify three fundamental limitations of purely numerical feedback: performance plateaus, ineffective spontaneous self-reflection, and persistent failures. We show that plateaued RL models can successfully refine failed solutions when given natural language critiques. Motivated by this, we propose Critique-GRPO, an online RL framework that integrates both natural language and numerical feedback for policy optimization. This approach enables LLMs to learn simultaneously from initial responses and critique-guided refinements, effectively internalizing the exploration benefits of both stages. Extensive experiments show that Critique-GRPO outperforms all compared supervised and RL-based fine-tuning methods, achieving average Pass@1 improvements of approximately +15.0-21.6% on various Qwen models and +7.3% on Llama-3.2-3B-Instruct across eight challenging reasoning tasks. Notably, Critique-GRPO facilitates effective self-improvement through self-critiquing, achieving substantial gains over GRPO, e.g., a +16.7% Pass@1 improvement on AIME 2024. The code and models are released at: https://github.com/zhangxy-2019/critique-GRPO