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 Who Can Write an ESA Letter? How Much Are Therapy Dogs for Anxiety? How Do I Get an ESA Letter Quickly? How to Get an ESA Letter? [therapypet_step1_form show_in_mobile="1"]