Quadruped

A quadruped is a four-legged animal.

In his "Ode to Spot," Data noted that Spot was an "endothermic quadruped, carnivorous by nature." 

The Lan'Tuana sector is inhabited by quadrupeds. 

Doctor Phlox professed to Jonathan Archer that he had underestimated Archer's attachment to his "subservient quadruped".