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No, many cats, dogs, even sheep or goats lift all their legs when running at some point during mid-stride.

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Q: Are horses the only animal who lifts all four legs off the ground when they run?
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Do horses lift all four legs off the ground when they run?

Yes. In fact that question is what lead to the invention of the movie camera. The original invention was not created by Edison but a man named Eadweard Muybridge. http://en.wikipedia.org/wiki/Eadweard_Muybridge#Stanford_and_the_trotting_question but yep. They do in fact leave the ground. In fact most sprinters (human sprinters!) do leave the ground.