SARS-CoV-2 mainly affects humans; however, it is important to monitor the infection of companion and wild animals as possible reservoirs of this virus. In this sense, seroprevalence studies in companion animals, such as dogs and cats, provide important information about the epidemiology of SARS-CoV-2. This study aimed to evaluate the seroprevalence of neutralizing antibodies (nAbs) against the ancestral strain and the Omicron BA.1 subvariant in dogs and cats in Mexico. Six hundred and two samples were obtained from dogs (n = 574) and cats (n = 28). These samples were collected from the end of 2020 to December 2021 from different regions of Mexico. The presence of nAbs was evaluated using a plaque reduction neutralization test (PRNT) and microneutralization (MN) assays. The results showed that 14.2% of cats and 1.5% of dogs presented nAbs against the ancestral strain of SARS-CoV-2. The analysis of nAbs against Omicron BA.1 in cats showed the same percentage of positive animals but a reduced titer. In dogs, 1.2% showed nAbs against Omicron BA.1. These results indicate that nAbs were more frequent in cats than in dogs and that these nAbs have a lower capacity to neutralize the subvariant Omicron BA.1.