Question:

Will there be animals in Heaven?

Answer:

Acts 3:20-21 And he shall send Jesus Christ, which before was preached to you: Whom the heaven must receive until the times of restitution of all things, which God hath spoken by the mouth of all his holy prophets since the world began.

All things will be restored when God is ready for it. There is nothing here that excludes dogs, cats, and elephants or rocks, hills, and stars in this restitution. It would be different if it said, "The restitution of all people."

The soul leaves the body at death, as does the spirit.  God doesn't give us a lot of detail about all of this, but in several Scripture verses about heaven it mentions animals--and they shall not hurt nor harm. 

 Isaiah 11:6-9 The wolf also shall dwell with the lamb, The leopard shall lie down with the young goat, The calf and the young lion and the fatling together; And a little child shall lead them.  The cow and the bear shall graze; Their young ones shall lie down together; And the lion shall eat straw like the ox. The nursing child shall play by the cobra's hole, And the weaned child shall put his hand in the viper's den.  They shall not hurt nor destroy in all My holy mountain, For the earth shall be full of the knowledge of the Lord As the waters cover the sea."

1 Corinthians 15:35-42 But someone may ask, "How will the dead be raised? What kind of bodies will they have?" What a foolish question! When you put a seed into the ground, it doesn't grow into a plant unless it dies first. And what you put in the ground is not the plant that will grow, but only a bare seed of wheat or whatever you are planting. Then God gives it the new body he wants it to have. A different plant grows from each kind of seed. Similarly there are different kinds of flesh--one kind for humans, another for animals, another for birds, and another for fish.  There are also bodies in the heavens and bodies on the earth. The glory of the heavenly bodies is different from the glory of the earthly bodies. The sun has one kind of glory, while the moon and stars each have another kind. And even the stars differ from each other in their glory.  It is the same way with the resurrection of the dead. Our earthly bodies are planted in the ground when we die, but they will be raised to live forever.

Romans 8:18-23 For I reckon that the sufferings of this present time are not worthy to be compared with the glory which shall be revealed in us.  For the earnest expectation of the creature waiteth for the manifestation of the sons of God.   For the creature was made subject to vanity, not willingly, but by reason of him who hath subjected the same in hope,  Because the creature itself also shall be delivered from the bondage of corruption into the glorious liberty of the children of God.  For we know that the whole creation groaneth and travaileth in pain together until now.   And not only they, but ourselves also, which have the firstfruits of the Spirit, even we ourselves groan within ourselves, waiting for the adoption, to wit, the redemption of our body.

2 Kings 2:11  Then it happened, as they continued on and talked, that suddenly a chariot of fire appeared with horses of fire, and separated the two of them; and Elijah went up by a whirlwind into heaven.

Revelation 5:13  And every creature which is in heaven and on the earth and under the earth and such as are in the sea, and all that are in them, I heard saying: 'Blessing and honor and glory and power Be to Him who sits on the throne, And to the Lamb, forever and ever!'

Ecclesiastes 3:18-22 I said in my heart, 'Concerning the condition of the sons of men, God tests them, that they may see that they themselves are like animals.' For what happens to the sons of men also happens to animals; one thing befalls them: as one dies, so dies the other. Surely, they all have one breath; man has no advantage over animals, for all is vanity. All go to one place: all are from the dust, and all return to dust. Who knows the spirit of the sons of men, which goes upward, and the spirit of the animal, which goes down to the earth? So I perceived that nothing is better than that a man should rejoice in his own works, for that is his heritage. For who can bring him to see what will happen after him?

We don't know all about heaven and how God is going to do what He is going to do, but we do know what we need to know.  We know that God is good beyond what we could ever imagine.  We know that He has full control and is working everything to make us like Jesus.  We know that we just need to trust Him with all our heart, soul, and mind, and rest in His arms in submission to Him.