1. Fox Brook Park
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This park features a designated dog swim area north of the main sandy beach on a 25-acre lake. Additional dog swim areas are available at Waukesha County parks, including Menomonee, Minooka, Mukwonago, Muskego, and Naga-Waukee. Address: 2925 N. Barker Rd., Brookfield.
2. Granville Dog Exercise Area
While not a traditional beach, this 10-acre off-leash dog park includes a pleasant landing on the Menomonee River and offers extensive trails and grassy areas. The water is shallow and slow-moving, making it safe for dogs. Address: 11718 W. Good Hope Pl., Milwaukee.
3. Harrington Beach State Park
Located about 40 minutes north of Downtown Milwaukee along Lake Michigan, this state park permits dogs on certain beach areas. The dog-friendly zone is a half-mile walk from the parking lot. Address: 531 County Rd. D, Belgium.
4. Kohler Andrae State Park
Known for its stunning sand dunes and coastline, this park allows leashed dogs on the beach area north of the nature center. Address: 1020 Beach Park Ln., Sheboygan.
5. Lion’s Den Gorge Nature Preserve
This picturesque nature preserve features beautiful bluffs overlooking Lake Michigan and a secluded beach surrounded by trees. Dogs must be leashed within the preserve. Address: 511 High Bluff Dr., Grafton.
6. Menomonee Park
Offering a dog swimming area and a 32-acre play space, Menomonee Park is ideal for pets to roam freely through meadows and woodlands. Address: W220 N7884, Town Line Rd., Menomonee Falls.
7. Minooka Park
A small lake provides fun for dogs of all sizes, alongside two designated exercise areas for pets. This park is perfect for summer play. Address: 1927 E Sunset Dr., Waukesha.
8. Muskego Park
A welcoming space for dogs to swim and play, Muskego Park encourages leashed dogs to enjoy walks along the beachfront. Address: S83 W20370, Janesville Rd., Muskego.
9. Seven Bridges
With winding paths leading to a beautiful beach on Lake Michigan, this area allows leashed dogs to explore wildflowers and bubbling brooks. Address: 100 E. Hawthorne Ave., South Milwaukee.
10. South Beach
Situated near Port Washington's scenic harbor and downtown, this expansive park offers ample opportunities for hiking and exploration. Address: S Wisconsin St., Port Washington.
Note: This list has been updated to exclude Doctor’s Park beach, which does not permit dogs. This information is featured in Milwaukee Magazine's June 2026 issue.