Police said Bayron Osorio and Oxana Bolanos - who both have French bulldogs - were sitting on the bridge when an unknown suspect pulled up next to them.
That's when a second suspect, who was sitting on the passenger's side, got out of vehicle and demanded the dogs, according to Osorio.
"As he got closer, that's when he took out the gun and he told me again where I'm from and I didn't tell him nowhere and he just pointed a gun to my friend too and she started crying," he told Eyewitness News.
Police said one of the suspects pulled out a gun and began threatening the owners until they gave up the dogs. They took off shortly after.
"He literally jumped over, grabbed my friend, as he was grabbing my friend, he was pointing the gun at me," said Bolanos.
The suspects' vehicle is reportedly a black SUV with visible damage.
An exact make and model of the vehicle is unknown.
Osorio's dog is named Rhino, a tan French Bulldog who weighs about 22 to 24 lbs. He has since created an Instagram page to help spread the word on the robbery. He's anyone with tips to send him an He also has an email at bringrhinohome@gmail.com.
The incident remains under investigation. Anyone with information is urged to contact police