four-footed

[fawr-foot-id, fohr-]
adjective
having four feet: He considers his dog to be his four-footed friend.

Origin:
1125–75; Middle English four foted

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Based on the Random House Dictionary, © Random House, Inc. 2014.
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Example sentences
Oftentimes, animal pictures make the unhappy mistake of attributing almost
  human rationalization to simple four-footed beasts.
Dean later explained that he changed horses often in order never to be upstaged
  by his four-footed sidekick.
Though dogs must be on-leash, your four-footed canine friends are welcome to
  join you on your daily jog or stroll.
Not only can you bring your bicycle, but you can bring your best four-footed
  friend as well.
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