The way to reproduce:
Make a terrain like this, and spawning a dolphin and a pig in the shallow hole beside the deep hole. The dolphin has a possibility of jumping down the hole and taking fall damages, but the pig won't do so.
Note: Cods/salmons/tropical fishes/pufferfishes sometimes will too, but rarer than dolphins because they bump less severe than dolphins.
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This isn't really a bug, it's just that any aquatic animal spawned out of water will flop around like that no matter what, since they're meant to be in water.
Can confirm in 20w51a.
Can confirm in 21w06a.
Can confirm in 1.16.5 and 21w08b.
Can confirm in 21w10a. Video attached.
Can confirm in 21w17a.
Can confirm in 1.17.1.
Could somebody please tell me whether it's really a bug?