The invention provides a pet walking device. The device comprises a walking component, a bearing component and a warning component, wherein the walking component comprises two walking modules, each walking module comprises a supporting rod and a walking wheel; the bearing component comprises a bearing part, two mounting parts and two coating parts; each bearing part has a mounting area and a bearing area connected with the mounting area; the two mounting parts are respectively connected with two sides of the mounting area; the two coating parts are respectively connected with two sides of the bearing area, each coating part is connected with one mounting part, and the second end of each supporting rod is connected with one mounting part; and the warning component comprises two warning modules, an embedding groove is formed in each supporting rod, and each warning module is accommodated in each embedding groove correspondingly. The pet walking device has a relatively good effect for bearing and coating a pet dog with disabled legs, and can be used for warning automobiles on a road with dark light since light emitted from automobiles is reflected by a reflective layer, so that the safety of pet dogs can be improved.