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Dog-Friendly Activities in Millbrae, CA

There are 224 dog-friendly activities within 20 miles of Millbrae. Use the links below to get an overview of each one, see pictures, print directions, and even read reviews from other dog owners. Coming from out of town? Get a discounted rate on pet friendly hotels in Millbrae.

Pet Friendly Ocean Beach

Ocean Beach

San Francisco, CA

Ocean Beach in San Francisco, CA is pet friendly. From the north end to stairwell 21, dogs are allowed on-leash or voice control. From stairwell 21 to Sloat Boulevard, dogs are required to be leashed all year except from May 15th to July 1st when dogs can be under voice control. Dog owners are reminded to clean up after their pups and to keep an eye on them while playing in the sand.

Pet Friendly Golden Gate Park

Golden Gate Park

San Francisco, CA

Golden Gate Park

Golden Gate Park is one of San Francisco's most popular pet-friendly parks. There are four separate off-leash areas: the southeast section between Lincoln Way, King Drive and 2nd and 7th Avenues; the Northeast section at Stanyan and Grove Streets; the Southcentral area between King Drive, Middle Drive, and 34th and 38th Avenues; and the Golden Gate Park Dog Training Area. Bring Fido to explore one or all four parks for a day of fun and exercise.

Crissy Field

San Francisco, CA

Your dog will love strolling on the pet-friendly promenade, catching a frisbee in the grassy field, and playing in the sand and surf at the designated off-leash beach at Crissy Field in San Francisco, CA. A dog water fountain and washing station are available.

Point Isabel Regional Shoreline

Point Isabel Regional Shoreline

Point Isabel Regional Shoreline is a pet-friendly recreation area in Richmond, CA. Dogs are welcome to explore off leash on over 23 acres! The park also offers a variety of recreational options including bay fishing, hiking, birdwatching, biking and jogging. Dogs must either be leashed or under voice control if they're off leash.

Fort Funston

San Francisco, CA

Located off of Skyline Blvd, Fort Funston is one of the best places in San Francisco to bring your dog for a day of fun. This recreation area has lots of room for Fido to run and play, several dog-friendly trails, and beach areas. Dogs must be on a leash in the Bank Swallow habitat areas. Keep an eye out for fenced or signed areas were dogs are not permitted, and note that the Coastal Trail north of Horse Trail intersection is closed due to erosion.

Baker Beach

San Francisco, CA

Located approximately one mile south of the Golden Gate Bridge, pet-friendly Baker Beach in San Francisco is a great spot to take your dog for a view of the famous landmark. Picnic facilities are also available. Enjoy walking the beach with your leashed pup, but please remember to clean up after him during your visit.

Fort Funston Beach

San Francisco, CA

Fort Funston Beach

Dog-friendly Fort Funston Beach in San Francisco welcomes dogs on a leash or under strict voice command. There is lots of room for Fido to play and the area also features lots of trails. There are usually lots of dogs here for your pup to run around with!

Blue & Gold Fleet Bay Cruises

San Francisco, CA

Blue & Gold Fleet Bay Cruises

Blue & Gold Fleet Bay Cruises is a dog-friendly activity in San Francisco, CA. Leashed pups are welcome to join you on the one-hour Bay Cruise Adventure and the "Escape from the Rock" tours which take in gorgeous views of the bridges, piers and Alcatraz. Dog owners are responsible for their pup and must keep Fido on a leash or in an approved carrier at all times while on board. Please note that pets aren't permitted Angel Island.

Marin Headlands

Marin Headlands

Leashed pets are welcome to join you as you relax or play at Marin Headlands, in beautiful Sausalito, CA. Enjoy hiking trails with dramatic cliffs and sweeping views of the Golden Gate Bridge. Dog-friendly trails are marked and notify hikers of leash or voice control rules. Picnic areas are also available.

Palace of Fine Arts

San Francisco, CA

Palace of Fine Arts

Bring Fido for a stroll on the grounds of the pet-friendly Palace of Fine Arts in San Francisco. The area features an iconic Greco-Roman rotunda and colonnades and is one of the most photographed sites in the city, boasting a peaceful lagoon and paved path for walking your four-legged friend. Dogs must be leashed while visiting.

Presidio of San Francisco

San Francisco, CA

Presidio of San Francisco

Located on a decommissioned military post, the Presidio of San Francisco is a dog-friendly, 1,500-acre park and major outdoor recreation center. There are lush forests, miles of hiking trails and picturesque scenic overlooks of the Pacific Ocean. Other highlights include grassy Crissy Field with Golden Gate Bridge views, sandy Baker Beach and Tunnel Tops, a 14-acre public park with lawns for picnics. Leashed dogs are permitted to explore the area, unless otherwise marked.

Poplar Beach

Half Moon Bay, CA

Let Fido enjoy a day in the sun. Both horses and leashed dogs are welcome at the pet-friendly Poplar Beach in Half Moon Bay, CA. The area is operated by the city and dogs are allowed on the sand, unlike most of the state-run beaches.

Marina Green

San Francisco, CA

Leashed dogs are welcome at Marina Green in San Francisco, CA. An expansive grassy area with views of the Golden Gate Bridge and Alcatraz, this dog-friendly park is a popular spot within the community. The nearby marina, Little Marina, and harbor areas also permit dogs if they are leashed. Marina Green is an ideal destination for a waterfront stroll with Fido.

Devil's Slide Trail

Devil's Slide Trail

Devil's Slide Trail is a dog-friendly recreational area in Pacifica, CA. The paved trail features pet waste stations, overlooks, benches, observation scopes, interpretive signs, bike racks, drinking fountains, and restrooms. Dogs must be cleaned up after and leashed for the entirety of their hike. Parking is limited on the weekends.

Pulgas Ridge Open Space Preserve

Redwood City, CA

Pulgas Ridge Open Space Preserve

Pulgas Ridge Open Space Preserve is a dog-friendly park in Redwood City, CA. Take your pet for an on-leash hike throughout this large, lovely nature preserve, or let them run free in the 17.5-acre area located in the center of the preserve, accessible from the Cordilleras Trail, Polly Geraci/Hassler Trails and the Blue Oak Trail. Be careful as the area is fenced and signed at entrances, but there is no fencing around the off-leash area. Dogs must be on a leash when outside of the off-leash area.

Lands End Beach Off-Leash Dog Area

San Francisco, CA

Lands End Beach Off-Leash Dog Area

Lands End Beach Off-Leash Dog Area is an unfenced, dog-friendly space located within the Golden Gate National Recreation Area in San Francisco. Dogs can run and play off-leash in the designated spaces as long as they are under voice control. Please watch for signs designating specific on-leash areas.

Dr. Aurelia Reinhardt Redwood Regional Park

Dr. Aurelia Reinhardt Redwood Regional Park

Dr. Aurelia Reinhardt Redwood Regional Park is a dog-friendly recreational area in Oakland, CA. You and Fido can wander down the trails lined by impressive redwoods. Please note that entry for all, including dogs, require a fee.

Oyster Bay Regional Shoreline

San Leandro, CA

Oyster Bay Regional Shoreline

Oyster Bay Regional Shoreline is a dog-friendly recreation area located in San Leandro, CA. The shoreline features picnic areas and miles of trails for you and Fido to enjoy. Some of the wildlife you may encounter includes jackrabbits, garter snakes, birds of prey and more!

Redwood Valley Railway (Tilden Steam Train)

Redwood Valley Railway (Tilden Steam Train)

The Redwood Valley Railway, also known as the Tilden Steam Train, is a dog-friendly attraction in Orinda, CA. This 15 inch gauge steam railway circles through the forest lined with more than 600 coast redwood trees, specifically planted by the railway. The cars are small, open air with benches and the trip lasts about 15 minutes. There are restrooms and a small gift shop at the boarding site. Any size dog is welcome but all dogs must remain leashed while on the train. Hours vary by season so be sure to check their website for current schedule.

Arizona Cactus Garden

Arizona Cactus Garden

The Arizona Cactus Garden is a pet-friendly botanical garden located inside Stanford University in Palo Alto, CA. Fido is welcome to join as you tour the grounds, but please note that there are no boundaries around the cacti. Guests can expect to see a variety of unusual plants, including Cholla, Prickly Pear, several types of Aloes and more.

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Millbrae, CA, US