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Abstract Laser-cooled gases of atoms interacting with the field of an optical cavity are a versatile tool for quantum sensing and the simulation of quantum systems. These systems can exhibit phenomena such as self-organization phase transitions, lasing mechanisms, squeezed states and protection of quantum coherence. However, investigations of these phenomena typically occur in a discontinuous manner due to the need to reload atomic ensembles. Here we demonstrate hours-long continuous lasing from laser-cooled⁸⁸Sr atoms loaded into a ring cavity. The required inversion to produce lasing arises from inversion in the atomic-momentum degrees of freedom, which is linked to the self-organization phase transitions and collective atomic recoil lasing observed previously only in a cyclic fashion. We find that over a broad parameter range, the sensitivity of the lasing frequency to changes in cavity frequency is significantly reduced due to an atomic loss mechanism, suggesting a potential approach for mitigating low-frequency cavity noise. Our findings open opportunities for continuous cavity quantum electrodynamics experiments and robust and continuous super-radiant lasers.