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Most dogs go into heat twice a year. Most common cycling frequency for female dogs is every six months or twice a year. Many dogs have this like a clock set up and are cycling at exactly predictable rate. Many dogs go into heat more frequently. Three times per year is quite a common occurrence and considered normal.
On average, dogs have two cycles a year. The estrus cycle lasts on average 12-21 days, but maybe be as short as a few days to four weeks. The estrus period length varies widely between breeds and individual dogs. The length of a cycle varies widely, even for dogs of the same breed. If in doubt, assume the longer end of the range for the cycle length.