On the Kuroko no Basuke Wikia here under personality it says this about why Kagami Taiga is afraid of dogs which is as follows...
When Kuroko brought Tetsuya #2 (The Dog) to training, it is revealed that Kagami is scared of dogs. This fear originates from his time in America, where he was once bitten by a dog.
However I am not sure if this information is accurate or just made up. Does anyone know what episode in Kuroko no Basuke mentions where this fear originates from?