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 Man’s Best Friend How Much Does an ESA Letter Cost? How Long Does ESA Last? Can I Have Two Emotional Support Animals? [therapypet_step1_form show_in_mobile="1"]