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 Can Your Dog Be Mad at You? Do I Qualify for an ESA? Owing a Therapy Pet How Do I Ask My Therapist for ESA? [therapypet_step1_form show_in_mobile="1"]