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? Emotional Support Animals for Anxiety 5 Breeds of Dogs with the Longest Lifespan How Do You Get a Therapy Dog for Depression and Anxiety? [therapypet_step1_form show_in_mobile="1"]