No, but unlike other illegal things (drugs, prostitution, child porn) the cops don't actually go out of their way to find people and arrest them. This means that only the people who do it like fucking idiots get caught. If you go out fence-hopping or trying to buy your way into a brothel, you might walk into a sting or get caught and arrested for trespassing first, animal abuse second.
If you fuck your own animal in the seclusion of your own home, you'll never get in trouble.