Dogs are warmly welcomed on the patio at Pier 23 Cafe, a waterfront dining spot right at Pier 23 on the Embarcadero. The spacious patio gives you room to settle in with your dog while the bay opens up in front of you—the views stretch across the water, and on clear days you can see the Golden Gate Bridge in the distance. The menu leans toward fresh seafood and classic American fare, the kind of place where you can order a proper lunch or dinner without it feeling overly fancy.

The sea breeze keeps things cool, and there’s usually enough activity around the Embarcadero to keep your dog mildly entertained without being overwhelming. People come and go, but it’s not chaotic. You’ll want to bring water for your dog since they’ll be sitting in the sun with you while you eat. The patio atmosphere is casual enough that your dog won’t feel out of place—other dogs usually show up, and the staff treats them as a normal part of the operation rather than something they’re grudgingly tolerating. It’s straightforward dining without pretension.

The location is genuinely useful if you’re planning a waterfront day. The Embarcadero itself offers a long walking path, and you’re close to Justin Herman Plaza and the Ferry Building area if you want to explore after eating. If you’re coming from the Ferry Building or walking the Embarcadero waterfront with your dog, this is a natural spot to stop rather than having to head inland to find somewhere dog-friendly. You can sit outside, your dog is there with you, and you eat seafood while looking at the bay. The setup works because it’s genuinely designed for people who want to eat outside by the water, which naturally accommodates dogs better than most indoor restaurants could. It’s the kind of place where you don’t have to choose between a meal and bringing your dog along—you just do both.