diff --git a/src/strands/tools/structured_output.py b/src/strands/tools/structured_output.py
index 6f2739d88..2c5922925 100644
--- a/src/strands/tools/structured_output.py
+++ b/src/strands/tools/structured_output.py
@@ -27,16 +27,16 @@ def _flatten_schema(schema: Dict[str, Any]) -> Dict[str, Any]:
         "properties": {},
     }
 
-    # Add title if present
     if "title" in schema:
         flattened["title"] = schema["title"]
 
-    # Add description from schema if present, or use model docstring
     if "description" in schema and schema["description"]:
         flattened["description"] = schema["description"]
 
     # Process properties
     required_props: list[str] = []
+    if "properties" not in schema and "$ref" in schema:
+        raise ValueError("Circular reference detected and not supported.")
     if "properties" in schema:
         required_props = []
         for prop_name, prop_value in schema["properties"].items():
@@ -76,9 +76,6 @@ def _flatten_schema(schema: Dict[str, Any]) -> Dict[str, Any]:
 
     if len(required_props) > 0:
         flattened["required"] = required_props
-    else:
-        raise ValueError("Circular reference detected and not supported")
-
     return flattened
 
 
@@ -325,21 +322,7 @@ def _expand_nested_properties(schema: Dict[str, Any], model: Type[BaseModel]) ->
             continue
 
         field_type = field.annotation
-
-        # Handle Optional types
-        is_optional = False
-        if (
-            field_type is not None
-            and hasattr(field_type, "__origin__")
-            and field_type.__origin__ is Union
-            and hasattr(field_type, "__args__")
-        ):
-            # Look for Optional[BaseModel]
-            for arg in field_type.__args__:
-                if arg is type(None):
-                    is_optional = True
-                elif isinstance(arg, type) and issubclass(arg, BaseModel):
-                    field_type = arg
+        is_optional = not field.is_required()
 
         # If this is a BaseModel field, expand its properties with full details
         if isinstance(field_type, type) and issubclass(field_type, BaseModel):
diff --git a/tests/strands/tools/test_structured_output.py b/tests/strands/tools/test_structured_output.py
index 97b68a34c..fe9b55334 100644
--- a/tests/strands/tools/test_structured_output.py
+++ b/tests/strands/tools/test_structured_output.py
@@ -1,4 +1,4 @@
-from typing import Literal, Optional
+from typing import List, Literal, Optional
 
 import pytest
 from pydantic import BaseModel, Field
@@ -157,6 +157,7 @@ def test_convert_pydantic_to_tool_spec_multiple_same_type():
                     "user2": {
                         "type": ["object", "null"],
                         "description": "The second user",
+                        "title": "UserWithPlanet",
                         "properties": {
                             "name": {"description": "The name of the user", "title": "Name", "type": "string"},
                             "age": {
@@ -208,6 +209,85 @@ class NodeWithCircularRef(BaseModel):
         convert_pydantic_to_tool_spec(NodeWithCircularRef)
 
 
+def test_convert_pydantic_with_circular_required_dependency():
+    """Test that the tool handles circular dependencies gracefully."""
+
+    class NodeWithCircularRef(BaseModel):
+        """A node with a circular reference to itself."""
+
+        name: str = Field(description="The name of the node")
+        parent: "NodeWithCircularRef"
+
+    with pytest.raises(ValueError, match="Circular reference detected and not supported"):
+        convert_pydantic_to_tool_spec(NodeWithCircularRef)
+
+
+def test_convert_pydantic_with_circular_optional_dependency():
+    """Test that the tool handles circular dependencies gracefully."""
+
+    class NodeWithCircularRef(BaseModel):
+        """A node with a circular reference to itself."""
+
+        name: str = Field(description="The name of the node")
+        parent: Optional["NodeWithCircularRef"] = None
+
+    with pytest.raises(ValueError, match="Circular reference detected and not supported"):
+        convert_pydantic_to_tool_spec(NodeWithCircularRef)
+
+
+def test_convert_pydantic_with_circular_optional_dependenc_not_using_optional_typing():
+    """Test that the tool handles circular dependencies gracefully."""
+
+    class NodeWithCircularRef(BaseModel):
+        """A node with a circular reference to itself."""
+
+        name: str = Field(description="The name of the node")
+        parent: "NodeWithCircularRef" = None
+
+    with pytest.raises(ValueError, match="Circular reference detected and not supported"):
+        convert_pydantic_to_tool_spec(NodeWithCircularRef)
+
+
+def test_conversion_works_with_fields_that_are_not_marked_as_optional_but_have_a_default_value_which_makes_them_optional():  # noqa E501
+    class Family(BaseModel):
+        ages: List[str] = Field(default_factory=list)
+        names: List[str] = Field(default_factory=list)
+
+    converted_output = convert_pydantic_to_tool_spec(Family)
+    expected_output = {
+        "name": "Family",
+        "description": "Family structured output tool",
+        "inputSchema": {
+            "json": {
+                "type": "object",
+                "properties": {
+                    "ages": {
+                        "items": {"type": "string"},
+                        "title": "Ages",
+                        "type": ["array", "null"],
+                    },
+                    "names": {
+                        "items": {"type": "string"},
+                        "title": "Names",
+                        "type": ["array", "null"],
+                    },
+                },
+                "title": "Family",
+            }
+        },
+    }
+    assert converted_output == expected_output
+
+
+def test_marks_fields_as_optional_for_model_w_fields_that_are_not_marked_as_optional_but_have_a_default_value_which_makes_them_optional():  # noqa E501
+    class Family(BaseModel):
+        ages: List[str] = Field(default_factory=list)
+        names: List[str] = Field(default_factory=list)
+
+    converted_output = convert_pydantic_to_tool_spec(Family)
+    assert "null" in converted_output["inputSchema"]["json"]["properties"]["ages"]["type"]
+
+
 def test_convert_pydantic_with_custom_description():
     """Test that custom descriptions override model docstrings."""