Does Insurance Cover a Service Dog? March 11th, 2021 No, it doesn’t. Health insurance under Medicare, Medicaid, or any private health insurance plan does not cover service dogs. However, expenses around service dogs can be deducted from your taxes. Related Posts Best Diet for Dogs That Are Service Animals Owing a Therapy Pet Is ESA Legitimate? Can Dogs Tell If You Don’t Like Them? [therapypet_step1_form show_in_mobile="1"]