Is it illegal to drive with your dog on your lap in the UK? I went to pick up my daughter in the town over from us and got SCREAMED at by a policeman. I told him that I didn't know you could do it here and proceeded to secure my dog in the back seat with his leash. He told me that if he was a traffic warden he could take away my licence all the while, his fellow officers were yelling at him to hurry up because they were on a call. Believe it or not he made them stop the van to yell at me. Hopefully they weren't heading to help someone in trouble.