Like humans, dogs do burp and for the same reasons. Burping is the body's way to expel any excess air one usually accumulates from eating or drinking too fast. Burping is normal and is not something to be concerned about but if you want to lessen the frequency with which your dog burps and consequently lessen any accompanying discomfort, set a more relaxed eating routine so your dog isn't too hungry and thirsty come meal-time and is not hurried to finish their food. Slow feeders are a good purchase toward this end. Similarly, avoid using large drinking bowls and instead provide drinking water in smaller but more frequent doses.
Sometimes, burping may be a symptom of a gastrointestinal upset. This may range from food that your dog may have difficulty digesting, acid reflux, gastrointestinal diseases, and gastric dilatation-volvulus among others. Check with your veterinarian if you notice unfamiliar burping from your dog.