You are faced with one of the hardest decision a pet owner has to make. Our hearts always hurt at the thought of not having our beloved dog with us, but in some cases, it is because of the love we feel for them that we let them go.
If your dog is not in constant pain, still has some activities that is enjoyed even if your dog may move a little slower and seems content to just lay by your feet, then I'd say your dog still has some quality of life. If your dog can no longer do anything that used to be enjoyed and you can see that your dog’s eyes are pain filled and sometimes even your touch doesn't give comfort, then it probably is the right time.
It sounds like your girl at a minimum has arthritis and if she isn't being treated for that, you may want to consider starting treatment so she is more comfortable. In addition, she might also be experiencing Cognitive Dysfunction Syndrome (CDS). The good news is that there is a drug called L-Selegeline (Anipryl (R)) which has been recently approved for use in the clinical indication of cognitive dysfunction (CDS) in dogs. Please see this site for more information and other causes that may exhibit the same symptoms.
While her quality of life does seem like it has been reduced, it may be improved with some treatment for arthritis and CDS. This is something your vet may be able to determine for you. The best gift you can give your dog when the time comes, is to let her go peacefully. This is always a difficult choice and I hope I have helped in some small way with your decision.
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