The pet harness with restraint includes a rigid lateral bar or rod attached across the shoulder strap of a harness. The bar serves to prevent the animal from escaping between the vertical uprights of a fence or similar enclosure. The harness preferably comprises a pair of foreleg loops, a chest strap interconnecting the foreleg loops, and a pair of connecting straps that extend from the loops over the shoulders of the animal. Alternatively, the harness may comprise a collar portion and a body-encircling strap joined by longitudinal chest and dorsal straps. The bar may be permanently attached across the shoulder or dorsal straps of the harness, but is preferably removable to provide a versatile harness. The bar may be attached to the harness by snap fasteners, by insertion into a sleeve attached to the harness, etc. The harness may include elastic sections therein to provide greater adjustment for growing pets.