We do. Started out cool, owner had one, I brought my two dogs. Everything was cool. Then the owner's wife started working off site and all of a sudden he brought her dogs into the office too. I don't bring mine now and there are too many and way too distracting.
Very low number of dogs is fine. More than a couple sucks.
Also, gtfoomf with cats in the office. They want noting more than to lay on your keyboard or paperwork that you are working on.