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There are three sections in terms of how it feels.
BLUE: Pretty soft, squishy, and fairly warm. Some dogs have large vulvas while others have ones that are barely visible. The bigger the vulva, the greater the length of the soft and squishy feeling. This is also the part where you have to enter at a really steep angle and go almost straight up to enter her vagina.
RED: This is what a lot of people describe as a tight ring of muscle. This is also the part where I personally feel the pulsating the most since it's the entrance of her vaginal canal. You will usually feel her pulsing or squeezing it as you are pushing up against it once you get that far inside. Eventually she will loosen it up enough for you to slip the tip of your penis past the ring. From there you slowly push deeper inside.
GREEN: Very very warm and very very tight. Once you slip past the ring of muscle, you'll notice a texture change from soft and squishy to an almost rough feeling on all sides of your penis. The part of your penis that is inside her vaginal canal will feel like it's wrapped in an extreme amount of heat on all sides. Some people describe their first time as it being almost uncomfortably hot because of how warm it is inside. You'll also feel her squeezing down on your penis every few seconds. It's definitely noticeable but not as much as the initial entrance.
As for differences between human and dog pussy, it's mainly the heat and tightness. Dogs are much warmer and once you enter the vaginal canal, there isn't much of a comparison in tightness.