The boy's mother, Myhia Perez, said discovering her son had gone missing was terrifying. "I about died," she said.
After responding to the scene, police said they quickly discovered paw prints leading to a wooded area near the house.
Sheriff Daniel Abbott said the family's dog, a pit-boxer named Apollo, may have saved Princeton Peake's life by sticking by his side and leaving behind the vital clues that led to their rescue.
"Without those dog tracks, without being able to track him for a half a mile in a muddy field, we wouldn't have had a good direction of travel of where that boy went," Abbott said.
Police estimate Princeton had gone missing for at least three to four hours.
Medical emergency units said that Princeton was discovered without a diaper but in overall good health, and treated him for a few minor scratches and irritating bug bites.
Abbott said as a token of appreciation, the Van Buren County Police Department delivered dog food and treats to Apollo on Friday.
"I owe it to my dog, because if my son was alone who knows what could have happened," Peake said.
As a precaution, two shiny new locks adorned the family's front door Friday, out of Princeton's reach.