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<!-- DFIN New ActiveDisclosure (SM) XBRL Schema Document - http://www.dfinsolutions.com/ -->
<!-- Creation Date :2022-12-07T14:29:48.3187+00:00 -->
<!-- Copyright (c) 2022 Donnelly Financial Solutions, Inc. All Rights Reserved. -->
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  <xsd:element id="woof_InvestmentInRoverGroupIncMember" name="InvestmentInRoverGroupIncMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_InvestmentsOfOfficersLifeInsuranceMember" name="InvestmentsOfOfficersLifeInsuranceMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_LesserThanSixtySixPointSevenPercentageButGreaterThanOrEqualToThirtyThreePointOfLineCapMember" name="LesserThanSixtySixPointSevenPercentageButGreaterThanOrEqualToThirtyThreePointOfLineCapMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_LesserThanThirtyThreePointThreePercentageOfLineCapMember" name="LesserThanThirtyThreePointThreePercentageOfLineCapMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_NonQualifiedDeferredCompensationPlanMember" name="NonQualifiedDeferredCompensationPlanMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_OtherAwardsMember" name="OtherAwardsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_RestrictedCashMember" name="RestrictedCashMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_RestrictedStockUnitsRSUAndRestrictedStockAwardsMember" name="RestrictedStockUnitsRSUAndRestrictedStockAwardsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_SeniorSecuredAssetBasedRevolvingCreditFacilityMember" name="SeniorSecuredAssetBasedRevolvingCreditFacilityMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_SeniorSecuredTermLoanFacilityMember" name="SeniorSecuredTermLoanFacilityMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_ServicesAndOtherMember" name="ServicesAndOtherMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_SuppliesAndCompanionAnimalsMember" name="SuppliesAndCompanionAnimalsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_TwoThousandSixteenIncentivePlanMember" name="TwoThousandSixteenIncentivePlanMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_TwoThousandTwentyOneEquityIncentivePlanMember" name="TwoThousandTwentyOneEquityIncentivePlanMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_SummaryOfSignificantAccountingPoliciesTable" name="SummaryOfSignificantAccountingPoliciesTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="woof_LitigationPolicyTextBlock" name="LitigationPolicyTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="woof_ScheduleOfCashAndCashEquivalentsAndRestrictedCashTableTextBlock" name="ScheduleOfCashAndCashEquivalentsAndRestrictedCashTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="woof_ScheduleOfShareBasedCompensationPartnershipUnitsActivityUnderTwoThousandAndSixteenIncentivePlanTableTextBlock" name="ScheduleOfShareBasedCompensationPartnershipUnitsActivityUnderTwoThousandAndSixteenIncentivePlanTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
</xsd:schema>
