An on-chip microwave circulator that is compatible with superconducting devices is a key element for scale up of superconducting circuits. Previous approaches to integrating circulators on chip involve either external driving that requires extra microwave lines or a strong magnetic field that would compromise superconductivity. Here we report the first proof-of-principle realization of a passive on-chip circulator that is made from a superconducting loop interrupted by three notionally identical Josephson junctions and is tuned with only dc control fields. Our experimental results show evidence for nonreciprocal scattering, and excellent agreement with theoretical simulations. We also present a detailed analysis of quasiparticle tunneling in our device using a hidden Markov model. By reducing the junction asymmetry and utilizing the known methods of protection from quasiparticles, we anticipate that Josephson-loop circulator will become ubiquitous in superconducting circuits.