Infections with endoparasites are common in dogs. Some of these parasites are potentially zoonotic and therefore a public health concern. A survey was conducted in twenty-six small animal practices to evaluate the prevalence of endoparasites in Belgian and Dutch owned dogs older than 6 months as well as risk factors associated with infection. Out of 239 faecal samples screened (168 in Belgium and 71 in the Netherlands), 18 dogs were tested positive for at least one type of endoparasite with three dogs co-infected with two parasitic species. Toxocara sp. was the most frequently found endoparasite (4.6%). Three other dogs were positive for Angiostrongylus vasorum (1.4%) using the Baermann method and confirmed in one dog by the Angiodetect® test. Age and predation behaviour were identified as two risk factors associated with endoparasite infection. Although the majority (77%) of the owners in this study reported to administer at least one anthelmintic treatment per year, only a minority of them (24.3%) were aware of the risk to human health, indicating that owner awareness is sub-optimal. For dog owners, human toxocarosis and other potential zoonoses remain an underestimated health concern. The implementation of sustainable parasite control strategies should be promoted taking also into account the public health risk.