Four-day Yosemite Mariposa County dog-friendly itinerary

By: DogTrekker Staff
dogs sticking their heads out the window of a SUV in Yosemite National Park

Yosemite Mariposa County is a premier travel destination for all adventurers, no matter how many legs they have. You and your furry companions will have numerous activities and amenities at the tip of your fingers, or paws. Here’s a detailed itinerary for four pet-perfect days in Yosemite Mariposa County:

Day 1: Discover historic towns

First, you’ll embark on a scenic drive to the county, approximately 200 miles east of San Francisco and 300 miles north of Los Angeles, where you can choose from charming towns like Mariposa, Coulterville, Fish Camp, and more.

Upon arrival, check into one of the pet-friendly establishments and take a stroll through the dog-friendly streets, where you can find somewhere to sit down for a bite or a pint. Many local establishments welcome well-mannered dogs, offering water bowls and treats.

Enjoy a relaxing evening at a dog-friendly restaurant like Happy Burger Diner, Lucky Buck Cafe or 1850 Restaurant in Mariposa, where you can enjoy one of many seasonal brews with names that embrace the local landmarks and legends.

Day 2: Explore Yosemite National Park

Venture into the park to explore its iconic attractions. Leashed dogs are permitted on most paved roads, sidewalks, and bicycle paths, allowing you to enjoy the scenic vistas. For the best experience, start your day early and capture breathtaking views at Tunnel View before descending into Yosemite Valley. Take a hike to Bridalveil Fall, where a dog-friendly trail leads to the waterfall’s base. Yosemite offers surprising pet accessibility, allowing you to discover its wonders alongside your canine companion.

Day 3: Venture beyond the valley

Venture beyond Yosemite Valley to explore lesser-known gems. Discover the tranquil beauty of Wawona Meadow Loop Trail, one of the best dog-friendly trails in Yosemite. Marvel at the scenic vistas of Hetch Hetchy Valley, where O’Shaughnessy Dam offers stunning views of waterfalls and reservoirs. Journey along Tioga Road to Olmsted Point, where you can admire panoramic views of Yosemite Valley and unique rock formations such as the iconic Half Dome. Embrace the serenity of these less-traveled destinations while creating lasting memories with your furry companion.

Day 4: Time to hit the road

Saying goodbye is bittersweet, but you can make the most of your final day in Yosemite Mariposa County by indulging in outdoor adventures and culinary delights. Start your day with a visit to River Rock Inn’s pet-friendly Sticks Coffee for locally roasted coffee and baked treats. Explore the scenic trails of Sierra National Forest and Stanislaus National Forest, where dogs are welcome with their owners. Refuel with a delicious lunch at Coulter Café & General Store or grab a slice at Timberloft Pizzeria in Fish Camp, savoring the region’s flavors before bidding farewell to this pet-friendly paradise.

Throughout your journey, stay at pet-friendly accommodations like Downtown Mariposa’s River Rock Inn, Tenaya at Yosemite in Fish Camp or AutoCamp Yosemite in Midpines, where numerous amenities and scenic surroundings ensure a comfortable stay for both pets and their owners.


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