An interview in the Harvard Gazette with Professor of Medicine Allen Steere explains:

[T]here are currently no vaccines for humans, although there are three for dogs. One had been developed in the late 1990s and pulled off the market in 2002, in part due to a vigorous anti‐​vaccination movement.

Steere goes on to explain that concerns arose about a possible side‐​effect of the vaccine, but those concerns turned out to be invalid. Thus, general vaccine hesitancy, combined with a specific but misplaced fear about the early vaccine have meant no availability for humans so far.