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 Long Does ESA Last? How Do I Get My Dog Trained as a Therapy Dog? What is the Best Dog for Emotional Support? Is Emotional Support Animal Legit? [therapypet_step1_form show_in_mobile="1"]