Pets may accompany you in developed areas of the park. This includes any areas within 100 feet (30.5 meters) of roads, parking areas, and campgrounds (excluding thermal areas). Pets must be kept under physical control at all times - caged, crated, or on a leash not to exceed six feet in length.
For the safety of your pet, other people, and park wildlife, please observe the following regulations:
While it's possible for pets to remain in your vehicle while you’re viewing attractions near roads and parking areas, we recommend that someone in your group remain behind to personally ensure your pet's well being.
These policies exist to protect pets from being killed by predators like bears or coyotes, to protect them from being burned or killed in hot springs, to prevent the exchange of diseases between domestic animals and park wildlife, and to allow others to enjoy the park without the disruption of pets.
There are no kennels in Yellowstone but this service is available in surrounding communities.
Qualified service animals assisting people with disabilities are allowed throughout the park and in all park facilities. However, they must be leashed. You must have a permit to bring a service animal into the backcountry due to wildlife and safety issues.
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Park Ranger George Heinz covers some of the rules and provides advice related to traveling with pets in Yellowstone.