The beam-hardening effect due to the polychromatic nature of the X-ray spectra results in two main artifacts in CT images: cupping in homogeneous areas and dark bands between dense parts in heterogeneous samples. Post-processing methods have been proposed in the literature to compensate for these artifacts, but these methods may introduce additional noise in low-dose acquisitions. Iterative methods are an alternative to compensate noise and beam-hardening artifacts simultaneously. However, they usually rely on the knowledge of the spectrum or the selection of empirical parameters. We propose an iterative reconstruction method with beam hardening compensation for small animal scanners that is robust against low-dose acquisitions and that does not require knowledge of the spectrum, overcoming the limitations of current beam-hardening correction algorithms. The proposed method includes an empirical characterization of the beam-hardening function based on a simple phantom in a polychromatic statistical reconstruction method. Evaluation was carried out on simulated data with different noise levels and step angles and on limited-view rodent data acquired with the ARGUS/CT system. Results in small animal studies showed a proper correction of the beam-hardening artifacts in the whole sample, independently of the quantity of bone present on each slice. The proposed approach also reduced noise in the low-dose acquisitions and reduced streaks in the limited-view acquisitions. Using an empirical model for the beam-hardening effect, obtained through calibration, in an iterative reconstruction method enables a robust correction of beam-hardening artifacts in low-dose small animal studies independently of the bone distribution.