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Service dogs are individually trained to perform tasks directly related to a person's physical disability. They have the broadest public access rights under the ADA — stores, restaurants, hotels, workplaces. Examples: guide dogs, hearing alert dogs, mobility assistance dogs.

Emotional Support Animals (ESAs) provide therapeutic benefit through companionship — no specific task training required. ESAs are protected under the Fair Housing Act for housing accommodations, but do not have public access rights in stores, restaurants, or workplaces.

Psychiatric Service Dogs (PSDs) are trained to perform specific tasks related to a psychiatric disability — PTSD, severe anxiety, OCD, bipolar disorder. Unlike ESAs, PSDs have full public access rights (ADA), housing rights (FHA), and in-cabin airline rights (ACAA).

Therapy animals are trained to provide comfort to people other than their owner in professional settings. They don't have the same federal protections as service dogs or ESAs — access depends on facility policies and handler certification.