1. "ceng2 jing1" is the word you could use before the verb and after the subject, plus using "guo4" after the verb. Like "I used to own a dog"-----"wo3 ceng2 jing1 yang3 guo4 yi4 zhi1 gou3".
2. And if you wanna emphasize more on the past tense, you could use "yi3 qian2" in front of the whole sentence, plus using "guo4" after the verb. E.g. "I used to own a dog"----"yi3 qian2 wo2 yang3 guo4 yi4 zhi1 gou3".
Either way is ok. Plz notice that "guo4" is the most common way for us to express the action happened in the past. Good luck to your Chinese learning! :)