Designed by Gillian Temple and called the Garden of Memories, the Southwater-based green space was inspired by Claremont Gardens in Surrey, which features an amphitheatre.
"I wanted to reflect the simplicity and curved lines of the amphitheatre," she said. "The rounded banks give a sense of protection and comfort to those seeking refuge.
"The pergolas give the garden an open yet structured feel and the smooth banks, Mediterranean plants and herbs draw the eye to moving water and sculpture."
Artist Stephanie Davies built the sculpture at the centre of the garden and said it had to reflect the work of the animal charity and the feelings of the visitors.
She said: "The sculpture is loosely based on a rose bud, protected by the surrounding petals and this represents the human form wrapped around a curled up animal."
Pet lovers can make a dedication by buying a plaque for display on a pergola, tree or bench in the garden. Money goes to the charity and towards garden upkeep.
RSPCA chief executive Mark Watts said: "The garden can be enjoyed any time of year and will be a constant commemoration of the life of loved ones."