I have been doing this for many many years, Having sex with my stuffed animals. Known as plushies. They are so soft. I even wear my smaller ones in my pants when I go to work, out in public, and just everywhere. The feeling of the soft fur down there is go great. Even sleep in bed with my larger ones, some are big. Have huge pants to stick them in, so they stay put at night.

Do enjoy yourself and have fun with them, they will never tell. You might be somewhat like me years down the road, and have real dogs as well to be with you as well as the plushies..
So, long story short, it's not normal, but I don't believe it's wrong either.