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 I Take My Emotional Support Dog to Stores? How to Get an ESA Letter in California How Long Does it Take to Get an ESA Letter? How Does an ESA Help with Anxiety? [therapypet_step1_form show_in_mobile="1"]