This study aimed to develop the in vitro method using domestic commercial diets to estimate nutrient digestibility in dogs. The existing in vitro method were tested and compared with literature data to develop new in vitro method. The development of in vitro method progressed as follows: modification of pepsin solution to an activated form and supplementation with 1% lipase. All the in vitro method progressed to 4 hours of stomach simulation and 2 hours of small intestine simulation. In vivo digestibility was measured using the same diets as beagle dogs. The supplementation of lipase methods showed significantly improved (p < 0.05) DM, OM, and EE than the existing and modified pepsin solution methods. The correlation between in vitro and in vivo data in DM, OM, and EE digestibility was high (r2 = 0.889, 0.907, and 0.721, respectively), and the correlation between in vitro and in vivo data in CP and GE digestibility was medium (r2 = 0.681 and 0.536, respectively). The current in vitro method is similar to in vivo digestibility and helps potentially predict digestibility for dogs. In conclusion, this developed in vitro method suggests that it can help estimate the nutrient digestibility of dogs' diets without in vivo experiments.