The 307-acre Miller/Knox Regional Shoreline in Richmond spreads across Point Richmond with enough variety that you could easily spend a whole day there without running out of things to explore with your dog. Part of the East Bay Regional Parks system, it combines shoreline walks, hilltop hikes, and picnic areas that actually feel like you’re somewhere special rather than just another park.

Start at the landscaped picnic areas near the saltwater lagoon. These spots have shade and are genuinely pleasant for settling in with lunch while your dog rests nearby. Several larger picnic sites can be reserved if you’re planning a group outing. The mile-long jogging and biking trail that loops the lagoon works well for dogs that need steady exercise—it’s flat and straightforward, though you’ll want to keep your dog leashed since waterfowl congregate here and the path can get busy.

For better views and a more interesting walk, head up to the grassy hills. From the top you can see Mount Tamalpais, the San Francisco skyline, Brooks Island, and the East Bay hills spread out in front of you. The wind up there is often strong enough for kite flying if that appeals to you. The hills aren’t steep, just open grassland, so the climb with your dog is manageable.

Keep in mind the leash requirement: dogs need to be on a six-foot leash in the main park area west of Dornan Drive. Dogs aren’t allowed in the lagoon itself or on Keller Beach at the northern end, so plan your route accordingly. The historic fishing pier is worth a look, and the whole park stays open from 5 a.m. to 10 p.m., which gives you flexibility on timing. Pack water and waste bags—the park is popular, especially on weekends, and the rule about cleaning up after your dog really matters here given how many people use it.