Visiting Utah’s Zion National Park, with its towering sandstone cliffs and lush canyons, feels a bit like stepping into Jurassic Park. You and your dog can search for dinosaurs on one trail: the 3.4-mile Pa’rus Trail, which starts just behind the visitor’s center and rolls along the Virgin River. Just note that this is the only trail in Zion that allows dogs, and your pets won’t be allowed in any of the buildings and shouldn’t drink any river water, which can be contaminated with cyanotoxins.

Crater Lake National Park's famous 33-mile (53-kilometer) Rim Drive is one of the most spectacular scenic loops in the country. It circles the deepest lake in America, with pullouts that deliver views straight out of a screensaver. Leashed dogs are only permitted on a few of the park's hiking trails, including Godfrey Glen and the PCT, but they're welcome in all parking areas, along roadsides, and in campgrounds at Mazama Village.

Maine’s only national park is one of the most dog-friendly in the US. Pets are allowed on 100 miles of hiking trails and carriage roads, and in the Blackwoods, Seawall, and Schoodic Woods campgrounds—no need to search for a dog-friendly vacation rental! One of the best hikes to take in Acadia National Park with your dog is the Wonderland Trail, which runs through a pine forest to the rocky coast. Most of the trail is a well-maintained gravel road, so you don’t have to worry about hurt paws.

If you’re looking for dog-friendly cabins near US parks, Glacier National Park is hard to beat. Lodging abounds in the gateway towns of Whitefish and West Glacier, making it an excellent base for a multi-day trip. Within the park, leashed dogs are allowed in frontcountry picnic areas, campgrounds, boats, and, in general, within developed areas. The Going-to-the-Sun Road, open seasonally, is the main event: 50 miles (80 kilometers) of mountain scenery that you both can enjoy.

Of the 500-plus miles of trails that wind through Shenandoah, only 20 miles of them are closed to pets. That means you can explore waterfalls, woodlands, mountaintop vistas, and wildflower fields, all with your pooch in tow. Dog-friendly trails in the park also include approximately 115 miles of the famous Appalachian Trail.

One of the most underrated national park alternatives for dog owners who want a genuine wilderness experience without a cross-country drive. Leashed dogs are welcome on most of the park's 125 miles (201 kilometers) of trails, including the popular Towpath Trail, a flat, paved, multi-use path that follows the historic Ohio & Erie Canal for 20 miles (32 kilometers). Tucked between Cleveland and Akron, the park also connects to surrounding dog-friendly state parks and metro parks.

For urban travelers, Golden Gate National Recreation Area (GGNRA) is a revelation—and a model for what dog-friendly national parks in the US can look like when the rules actually lean toward inclusion. Several beaches within the GGNRA, including Fort Funston and Crissy Field East Beach, allow off-leash dogs under voice and sight control, a perk that's otherwise unheard of in the national park system.

America’s newest national park is New River Gorge National Park and Preserve, located along lone West Virginia country roads. Hillsides of Appalachian hardwoods and glens of rhododendrons give way to the rocky bed of the New River. Packed with history (both ancient and modern), the park is home to one of the oldest rivers in the world; its banks are dotted with old mining infrastructure and the crumbling remains of settlements. Here you can explore hiking trails that crisscross 70,000 acres.