Just like people, animals love massage, acupuncture and Reiki! There are also flower essences that can help animals with emotional and physical issues. Acupuncture is great for any type of arthritis. And just like any other thing, if you don't like the acupuncturist that you bring your pet to, go to a different one! You can find alternative vets, that offer these different healing modalities by going to www.aava.org or www.ahvma.org. For animal chiropractors, go to www.avcadoctors.com.
I've had horses put their heads on my shoulder while offering them Reiki to help them relax. Dogs have flipped over on their backs, with their tongues hanging out in total bliss to Reiki. Also, animals don't need as much as humans, five or ten minutes of Reiki can totally make a difference.
You can also massage your pet, which they will definitely appreciate! Of course, going to a professional is great, but if you can't afford it, start doing it on a regular basis and see how much they love it. :)