The organization was founded by Pali Boucher, daughter of a hippie mother and Paul Boucher, a program director of San Franciscoradio stationKSAN. Pali is an HIV victim and former foster child and drug addict whose mother died when she was ten. After being homeless for more than ten years, she adopted an abandoned coonhound puppy from the localdog pound. She named him Leadbelly and lived with him on the street for several more years. After spending six months in jail she then entered the Good Shepherd Gracenter, a women's residential recovery program run by the Roman Catholic order, the Good Shepherd Sisters. She credits the program and her dog with saving her life. In the late 1990s Boucher began working for Hopalong Animal Rescue, based in Oakland, California. In 2000, while she was a client at the SF/SPCA Animal Hospital, she inspired her veterinarian, Dr. Ilana Strubel, to found Veterinary Street Outreach Services, a Project of the San Francisco Community Clinic Consoritum's Street Outreach Services Program, a private not-for-profit human healthcare agency, where Pali had received care while homeless. VET SOS is mobile clinic that helps homeless people who are unable to care for their pets. In 2001, the year after Leadbelly's death, she started Rocket Dog Rescue and won a Points of Light award for volunteerism. She claims to have rescued 150 dogs in the first year. In 2006 the organization was profiled on Discovery's Animal Planetnetwork in a one-hour documentary, Rocket Dogs. By 2007 the organization had saved approximately 3,000 animals, and was spending $150,000 per year of donated funds on veterinary bills for sick animals. In December 2007, Boucher's home in Bernal Heights burned in a fire, making her homeless once again and killing three dogs, a parrot, and a pigeon for which she was caring. The group has housed most of their dogs in foster homes, and an emergency fund was proposed. In 2014, Rocket Dog Rescue opened its Urban Sanctuary and Adoption Center in East Oakland. In 2017, Boucher and Rocket Dog Rescue were featured in an episode of Cesar Millan's TV seriesDog Nation. By 2019, Rocket Dog Rescue had rescued over 10,500 animals and continues to go strong.