Eyewitnesses told the Northwest Florida Daily News that the Beechcraft Bonanza stopped about 5 feet from a home.
The small airplane apparently had engine trouble, WKRG reported.
Residents helped the men and the dog climb down from the plane.
The Okaloosa County Sheriff's Office said none of them had a scratch on them.
Those living in the neighborhood told the newspaper that they have been worried about planes from Destin Executive Airport because of how close they live to the airport.
"We're not in the direct path of the flight landing, but we've always said that it's not a matter of if it'll happen, but when it'll happen," Beth Cann told the newspaper.
The Federal Aviation Administration and the National Transportation Safety Board are investigating, the Daily News reported.
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