A wheelchair for animals includes a harness support frame having first and second lateral supports spaced from each other and a width extender adjustably connected between the first and second lateral supports, first and second knuckle clamp assemblies where each one of the first and second knuckle clamp assemblies has a first clamp component and a second clamp component, a plurality of harness connectors attached to the harness support frame, first and second leg assemblies where the second clamp components receives a leg assembly proximal end of one of the first and second leg assemblies, first and second wheels where each one of the first and second wheels is rotatably connected adjacent to a leg assembly distal end of one of the first and second leg assemblies, and a harness assembly detachably connected to the harness support frame. Each first clamp component has a lateral bore for receiving one of the first and second lateral supports therethrough and is positioned between a support frame proximal end and a support frame distal end. Each second clamp component has a clamp recess that receives the leg assembly proximal end and is rotatably and adjustably connected to the corresponding first clamp component.