An animal restraint system including a body harness and a removable control strap assembly. The control strap assembly may include no-pull or no jump/run modules. The body harness includes three adjustable straps that fit over the animals back, in front of the chest, and underneath and behind the front legs, and two leg straps that encircle the animals front legs. The no-pull module includes a strap for connecting a leash to the front leg straps. Pulling force is transferred to the animals front legs, thereby reducing its ability to pull. The no-jump/run module includes hind leg straps that encircle the animals hind legs and are connected to the corresponding front leg straps by connecting straps. A rear back strap extends across the back of the animal. The design works by limiting the range of motion of the front legs relative to the hind legs to inhibit jumping and running.
