[Pedro Valencia]

I have rigged plenty of dogs, humans, etc. the trick is how you build it, for a dog leg you need to separate in 3 parts and use ik on the top and middle one, then you parent the paw to the middle section and connect the paw’s rotation to the ik controller, that way when you rotate the controller the paw rotates too. screenshot2014-09-03at10.32.39am.png here is how to build the leg

Hope this helps