The warning comes after firefighters were called to help rescue a dog from Chesterfield Canal, where it meets Leverton Road on Tuesday afternoon.
Crew manager Steve Ball said it was important to keep dogs on a lead when near water.
"People should take care when walking their dog, particularly near Chesterfield Canal which has frozen in certain areas," he said.
"The ice is thicker at the edge, but not near the middle and we do not want owners going in after them."
Tuesday's rescue marked the second time in a week the crew was called out to rescue a dog from icy water.