Apparently yes
This is indicated by many indirect signs. Dogs and cats move their paws in their sleep and twitch their whiskers. Cats let out claws, dogs growl, sometimes bark. The electroencephalograms of animals show the same phases of sleep as humans, including the phase during which humans dream.
In addition, rats showed a high similarity of neuronal activity patterns during sleep and during the passage of the experimental maze. The similarity was so great that scientists could sometimes determine which part of the maze the rat was dreaming of at the moment.
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