Park · Hudson Valley
Leashed dogs welcome in day-use areas. Not permitted at the pool complex.
A big open Westchester park with loop trails around Mohansic Lake - an easy default when you want grass and water without a two-hour drive.
The policy above is the standing rule of the agency that manages this land, as published on its own pages. Official page.
Rules change, and seasonal beach rules change twice a year. Check before a long drive.