The companion animal massage device according to an aspect of the present invention includes a first inner space where a companion animal is seated, and a top surface having a first opening through which the tail is exposed to the outside after the companion animal is seated in the first inner space. The open case and a rotation shaft to rotate one end of the case to the shaft are coupled to the case, and a second opening is provided to allow the companion animal to settle in the first interior space and to expose the head to the outside. A cover for covering the open upper surface of the case, a control plate provided in the first inner space and deformed according to the foot spacing of the pet, and a control plate for supporting the pet, and provided in the control plate to massage the paw of the pet 1 massager, a cushion that supports the chin and belly of a pet by moving up and down with a first impression device located at the lower end of the control plate, and a second massager that combines with the control plate to massage the foot of the pet, A third massager provided on an inner side of the cover to massage the back and cervical vertebrae of the pet, the second massager and a fixed plate on which the cushion and the second massager are placed on the bottom of the first impression device, and the fixed plate A contact preventing member provided on the upper surface of the first massager, the second massager and the cushion to prevent direct contact of a companion animal, one end fixed to the lower surface of the fixing plate and the other end fixed to the inner surface of the case A second impression device that is provided on the inner surface of the case to massage the hind legs and thighs of the companion animal so that the fixed plate moves in the vertical direction so that the back of the pet and the cervical spine contact the third massager. It can be provided.본 발명의 일 측면에 따른 반려동물 마사지 장치는 반려동물이 안착하는 제1 내부공간을 구비하며, 반려동물이 상기 제1 내부공간에 안착한 후 꼬리가 외부로 노출되도
