Several domestic and wild animal species are susceptible to severe acute respiratory syndrome coronavirus 2 (SARS‐CoV‐2) infection. Reported (sero)prevalence in dogs and cats vary largely depending on the target population, test characteristics, geographical location and time period. This research assessed the prevalence of SARS‐CoV‐2‐positive cats and dogs (PCR‐ and/or antibody positive) in two different populations. Dogs and cats living in a household with at least one confirmed COVID‐19‐positive person (household (HH) study; 156 dogs and 152 cats) and dogs and cats visiting a veterinary clinic (VC) (VC study; 183 dogs and 140 cats) were sampled and tested for presence of virus (PCR) and antibodies. Potential risk factors were evaluated and follow‐up of PCR‐positive animals was performed to determine the duration of virus shedding and to detect potential transmission between pets in the same HH. In the HH study, 18.8% (27 dogs, 31 cats) tested SARS‐CoV‐2 positive (PCR‐ and/or antibody positive), whereas in the VC study, SARS‐CoV‐2 prevalence was much lower (4.6%; six dogs, nine cats). SARS‐CoV‐2 prevalence amongst dogs and cats was significantly higher in the multi‐person HHs with two or more COVID‐19‐positive persons compared with multi‐person HHs with only one COVID‐19‐positive person. In both study populations, no associations could be identified between SARS‐CoV‐2 status of the animal and health status, age or sex. During follow‐up of PCR‐positive animals, no transmission to other pets in the HH was observed despite long‐lasting virus shedding in cats (up to 35 days). SARS‐CoV‐2 infection in dogs and cats appeared to be clearly associated with reported COVID‐19‐positive status of the HH. Our study supports previous findings and suggests a very low risk of pet‐to‐human transmission within HHs, no severe clinical signs in pets and a negligible pet‐to‐pet transmission between HHs.