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 How to Get an ESA Letter Online Do You Need a Prescription for a Service Dog? Can Dogs Sense Anxiety? Understanding Dog Emotions and Behavior [therapypet_step1_form show_in_mobile="1"]