Bent silicon crystals mounted on high-accuracy angular actuators were installed in the CERN Super Proton Synchrotron (SPS) and extensively tested to assess the feasibility of crystal-assisted collimation in circular hadron colliders. The adopted layout was exploited and regularly upgraded for about a decade by the UA9 Collaboration. The investigations provided the compelling evidence of a strong reduction of beam losses induced by nuclear inelastic interactions in the aligned crystals in comparison with amorphous orientation. A conceptually similar device, installed in the betatron cleaning insertion of CERN Large Hadron Collider (LHC), was operated through the complete acceleration and storage cycle and demonstrated a large reduction of the background leaking from the collimation region and radiated into the cold sections of the accelerator and the experimental detectors. The implemented layout and the relevant results of the beam tests performed in the SPS and in the LHC with stored proton and ion beams are extensively discussed.