Pinnacle Rock State Park is dog-friendly. The park is known for the 3,100-foot sandstone formation that gives the park its name. Located on U.S. Route 52 near Bramwell in Mercer County, the park includes a wooded area with picnic facilities, hiking trails, and a fishing lake. An overlook from atop Pinnacle Rock is a popular destination and favorite photo spot for park visitors. Your dog is even welcome to climb the steps with you to the scenic overlook atop Pennical Rock.
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We stopped here visiting my dad for a few days. Our little Boston Terrier did great climbing the steps to the view. It is worth the climb to see the mountains and rock view. Be careful with the steps they are a little rickety and some spots has no railings.