A service dog harness has a base member and a strap system for attaching the base member to a dog. A rigid platform is provided on a top side of the base member, and a soft cushion material extends under and beyond the sides of the rigid platform to impart a soft cushion feel over the underside of the base member. A collar strap assembly is attached to the front end of the base member and is adjustable to fit about a dog's lower neck and chest in front of the forelegs. A trunk strap assembly is connected between the left and right sides of the base member and is adjustable to fit about a dog's trunk behind the forelegs. A ventral strap is connected between the collar and trunk strap assemblies. Padded sleeves cover the collar and trunk strap assemblies to minimize discomfort to a dog wearing the harness.
