Having your furry canine in your vehicle is perfectly fine; having them on your lap in the driver's seat is not.
If you're caught, you can be fined under Section 95(3) of the Highway Traffic Act. If you're driving is affected because of the animal, you could be charged for Careless Driving under Section 188 of the HTA, and that's a more serious offence than Section 95(3).
Some officers believe driving with a pet on your lap is more distracting than talking on a cell phone.
That's because a pet interferes with the driver's ability to control the vehicle, react to hazards and it obstructs their view.