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Waymo doesn't allow pets. Service animals are always welcome if they fit in the car, with no paperwork needed, but emotional support and therapy animals aren't. Tesla Robotaxi and Zoox have the same basic rule.
| Waymo | Tesla Robotaxi | Zoox | |
|---|---|---|---|
| Pets | No | No | No |
| Service animals | Yes, if small enough to ride | Yes, small service animals | Trained service dogs |
| Emotional support animals | No | Not a service animal | No |
| Proof needed | No | No | Not stated |
| Where the animal rides | Not stated | Secured by leash, tether, harness, crate or carrier | On the floor, or with a dog seatbelt attachment |
Checked Nov 11, 2026
Waymo
Waymo's Rider Rules say to leave pets at home out of respect for future riders who may have allergies, and that service animals are always welcome (Waymo Rider Rules). Its service animal page adds that only animals trained to perform work or tasks for a person with a disability qualify; you don't need to notify Waymo or bring paperwork, and the animal doesn't need an ID tag, vest or harness. If it isn't obvious, Support may call the car and ask two questions: is the animal required because of a disability, and what work or task is it trained to perform (Waymo Help).
Tesla Robotaxi
Tesla's rules: disabled riders may bring service animals, and all other animals stay home (Tesla Rider Rules). Its service animal policy says no tag or proof is required, asks you to secure the animal with a leash, tether, harness, crate or carrier, and says there are no fees for hair or shedding, though you can be charged for damage or a mess (Tesla).
Zoox
Zoox welcomes trained service dogs but can't accommodate pets or emotional support animals. It asks that the dog stay on the floor, or that you bring a dog seatbelt attachment that clips into the seatbelt buckle (Zoox).
Traveling with a pet
For a pet that isn't a service animal, you'll need a regular ride service whose policy allows animals; check it before you book.
Related: Rider rules compared · Accessibility · How to ride Waymo · Robotaxi cities
Questions riders ask
Can I bring my dog in a Waymo?
Not a pet. Waymo asks riders to leave pets at home because some passengers have allergies. Service animals that are small enough to fit are always welcome.
Are emotional support animals allowed in Waymo?
No. Waymo says only animals trained to perform work or tasks for a person with a disability count as service animals; emotional support and therapy animals aren't allowed.
Do I need paperwork for my service animal?
No. Waymo and Tesla both say you don't need to tell them in advance or show proof, and the animal doesn't need a vest or tag. Support may ask whether the animal is required because of a disability and what task it's trained to perform.
Sources
- Robotaxi Rider Rules (PDF), Tesla Operator, checked Nov 11, 2026
- Robotaxi Service Animal Policy (PDF), Tesla Operator, checked Nov 11, 2026
- Waymo Rider Rules, Waymo Help Operator, checked Nov 11, 2026
- Service animals, Waymo Help Operator, checked Nov 11, 2026
- Get support: rider FAQ, Zoox Operator, checked Nov 11, 2026
We check every fare, city, airport and rule against the operators' own help pages, regulators and reputable reporting, and we date each check. Reported figures are labeled as reported. We don't sell rides, codes or rankings. About us · How we source and check facts