An animal harness includes a chest and girth panel with a front side, a rear-end or tail side, an abdominal or girth strap section connecting the sides to form left and right side leg openings. Lateral side straps extend from the front of the chest panel to the tail of the harness where they may be joined to together and attached to a seat belt. Adjustable buckle straps are provided to connect the top of the lateral sides of the harness to retain the harness fitted on an animal.