Recognition of autism has significantly increased in the last decade, with concerns on how to effectively support adults with ASD (Autism Spectrum Disorder) as mental health continues to be a struggle needing to be addressed. This paper explores the integration of virtual reality and pet therapy for therapeutic intervention, investigating the feasibility and effectiveness of virtual environments simulating interactions to improve the social and psychological well-being of adults with ASD. To first determine requirements a mixed-methods approach was employed, looking to gather perspectives from both the wider ASD community, as well as NHS specialists through an online survey and in-person discussions. Both groups (ASD n = 14, NHS clinicians n = 9) provided insights to inform the design of a virtual pet simulation, which was followed by final user testing of the VR prototype itself again with an adult with ASD and NHS clinicians. Two test groups were conducted split between clinicians and an ASD “lived experience” adult testing the designed pet simulation, the first group looking at 5 themes; General observations, Applicability of the prototype for therapeutic treatment, Suggestions for improvements, Positive aspects, and Comfort for autism, and the second group looking at; Affection towards the dog, Realism, Excitement and surprise, VR interactions, and Comfort. Both groups provided in-depth comments and recommendations towards viability and overall findings suggested participants formed strong emotional connections with virtual pets in virtual safe controlled spaces. A set of recommendations is provided for future designers in the pursuit of more accessible environments for ASD users.