Never give your pet medication intended for people unless your veterinarian has prescribed it. Most over-the-counter pain relievers, such as acetaminophen (Tylenol) and ibuprofen (Advil, Motrin), can have serious and potentially fatal consequences if a pet ingests them. A variety of pain medications are available for dogs and cats. Your veterinarian can help you determine which one will fit your budget and help alleviate your pet’s pain.