Portland, Oregon, allows livestock of any sort or size within the city limits by permit, providing they are kept 50 feet from any house or business. You must also notify all neighbors of your intentions to keep livestock, but you do not need their signature or their approval...they need to protest on their own if they object.
However, the city does not consider miniature horses to be livestock. When I brought in my paperwork for my permit, having traipsed throughout our densely populated neighborhood telling everyone, the Director of Vector Control laughed at me, saying "You don't need all of this for minis!"
Our city parks also allow horses, so we walked our guys in a nearby city park, visiting with kids, dogs, hikers and bicyclists.
Our back yard opened out onto an alley, and it became a regular route for many who came to know Mingus and Thelonius. One day I was out back with them when a large group came by. They told me that they considered our horses to be an asset to the community...something they never said of Keith and me!
I'll do a search for the City of Portland code...it is online, but I've lost the bookmark.