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Yes, it is highly illegal for a human to urinate in public, even if you are acting like a dog.
While the law allows actual dogs to relieve themselves outdoors, humans are bound by strict public sanitation and decency laws. If you lift your leg or mimic a dog to pee in a public space or on someone else's property, you can face severe legal consequences.

Legal Risks for Humans

• Public Urination & Nuisance: Most cities and local ordinances explicitly ban human urination in public places, treating it as a misdemeanor or an infraction.
• Indecent Exposure: Exposing your genitals in public regardless of the posture you adopt can result in criminal charges for indecent exposure or public indecency. In several U.S. states, an indecent exposure conviction can carry the severe penalty of requiring you to register as a sex offender.
• Trespassing: Doing this on someone else's private lawn or property without their explicit permission constitutes civil or criminal trespass.

For Actual Dogs

If you are asking on behalf of a pet, it is generally legal for an actual dog to pee outside, though there are minor caveats:
• Property Damage: A homeowner cannot easily have a dog arrested, but they can technically sue the owner for civil trespass or property damage if the dog's urine destroys expensive landscaping or burns their grass.
• Local Ordinances: While "pooper-scooper" laws almost universally mandate cleaning up solid dog waste, some strict local municipal bylaws or apartment complex rules also penalize owners who let their dogs urinate on specific restricted private zones.