The only raw bones you can't give dogs are heavy weight bearing bones like femurs from cattle. The bones are too hard and can break their teeth. You also never want to give machine cut bones like pork chops because they have VERY sharp edges. You also NEVER EVER EVER!!!! want to feed ANY cooked or smoked bones of ANY kind.
My Newfoundland is fed the Prey Model Raw Diet and the mainstay of his diet is half a chicken leg quarter each meal. Then with that he gets beef of chicken liver and then things like beef heart, turkey necks, chicken feet, duck feet, duck wings. I alternate things to keep it interesting.
NOT a good idea, though, to give a dog just a chicken leg quarter instead of its kibble. Mixing raw and kibble can upset their digest. Dogs also NEED organ meats in their diet which is why the Prey Model Raw diet is 80% meat with bone, 10% organ meats, 10% bone. When you feed kibble the nutrients from organ meats are added.
A whole chicken leg quarter is also WAY too much food for a tiny Chihuahua. My 140 pound Newfoundland eats HALF of one twice a day!!!!!
If you want to stay on kibble but give a raw snack chicken or duck feet, turkey necks or chicken wings are perfect for a smaller dog like a Beagle or Chihuahua. You can also find some smaller beef marrow bones that they could chew on. And again ONLY raw. Mine really loves the marrow bones right from the freezer.
FYI - my Newf's been on raw now for 5 years and not ONCE have I had to brush his teeth. My vet always raves about how perfectly white his teeth are. Dogs were MADE to chew bones just like wolves were.