Colorado Springs is one of the most dog-friendly cities in the United States and if you are planning a trip to Colorado with your pup, you are genuinely in for a treat. From off-leash parks with jaw-dropping mountain views to the only restaurant in the entire state of Colorado where you can dine indoors with your dog, Colorado Springs makes it easy to travel with your four-legged family member without compromise.

Whether you are road-tripping through Colorado or planning a dedicated Colorado Springs vacation, this is your complete pet friendly guide covering the best things to do in Colorado Springs with a dog, where to stay, where to eat, and everything in between.

We first visited on a road trip from Chicago with our family and it was our first time. It turned out to be one of the most memorable trips and eventually led to making Colorado our home, and this itinerary is fully Tira approved. Keep reading to see all of Tira’s favorite spots in Colorado Springs.

Fun fact: Colorado Springs sits at the base of Pikes Peak, so no matter where you go, that iconic mountain is always watching over you.

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Altitude Tips for Your Colorado Springs Pet-Friendly Trip

Colorado Springs sits at 6,035 feet above sea level and if you are coming from a lower elevation, your body and your dog will both need a little time to adjust. The most common symptoms in your first day or two are headaches, fatigue, and shortness of breath. The best thing you can do is drink water consistently, take it easy on arrival day, and give yourself permission to rest more than usual. By day two, most visitors start to feel noticeably better.

For your dog, watch for excessive panting, lethargy, or reluctance to walk. Keep water accessible at all times and avoid pushing them on long hikes right away.

A couple of practical things worth knowing: sunscreen matters more at altitude since UV exposure increases the higher you go, and if symptoms ever feel severe, descending to a lower elevation is the fastest remedy. It’s also worth picking up a portable oxygen can when you arrive. Stores like Walmart and Safeway typically stock them near the front entrance, but if you don’t spot them right away, just ask an associate for help.

We felt the altitude on our first visit coming from Chicago and drinking water helped a lot. A few of us needed a little extra support, and having those oxygen cans on hand gave us real peace of mind. Taking arrival day easy truly set the tone for the whole trip.

Day 0: The Road Trip to Colorado Springs

If you are driving from Chicago or the Midwest, you will likely cross into Colorado through Julesburg on I-76. Make a stop at the Colorado Welcome Center in Julesburg, it is the official gateway into the state and a great place to grab maps, use restrooms, and snap your first Colorado photo at the iconic “Welcome to Colorful Colorado” sign. Depending on your route, there are welcome center signs at other key state entrances too, so keep your eyes open.

If you are coming from Denver, Colorado Springs is about an hour drive south, making it an easy and scenic addition to any Colorado itinerary.

Pro tip for the drive: Stock up on water and snacks before you hit the Colorado plains stretch. And make sure your pup has had a good walk before the final leg, Colorado Springs is worth arriving to feeling refreshed. And get ready, because the change in scenery will definitely blow your mind as you drive in and catch that first breathtaking hint of the mountains.

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Day 1: Arrival Day & First Tastes of Colorado Springs

Lunch: Hafa Adai Fiesta Food in Downtown Colorado Springs

Start your Colorado Springs adventure with lunch at Hafa Adai Fiesta Food, a family-owned gem serving authentic Chamorro and Filipino flavors right in the heart of downtown Colorado Springs. The menu features Guam-inspired dishes that are unlike anything else you will find in the area, and for our family it was already at the top of our list before we even arrived. Almost everyone in our group grew up on Guam, so finding authentic Chamorro food in Colorado was truly a bucket list moment. It did not disappoint. The flavors felt like home, and that is the highest compliment you can give a restaurant so far from the islands.

During the summer months, Hafa Adai offers outdoor seating, making it a dog-friendly stop on your itinerary. One person will need to wait outside with your pup while the other orders inside, but it is absolutely worth the extra effort for the food.

And if you want to try a little bit of everything, do yourself a favor and order the “I Want It All” plate, shown in the picture below. You will not regret it.

Afternoon: Manitou Cliff Dwellings

Just a 30-minute drive from downtown Colorado Springs, the Manitou Cliff Dwellings in Manitou Springs make for a fascinating and pet-friendly first afternoon stop. These well-preserved cliff dwellings offer a window into the lives of the Ancestral Puebloans who once called this region home, and dogs are welcome to explore alongside you. It is a great way to ease into the Colorado Springs experience while stretching everyone’s legs after the drive.

Admission is required, check their website for current pricing and hours before you go. Make sure to purchase tickets in advance.

Optional Stop: Manitou Springs

If time allows and everyone in your group is feeling good, Manitou Springs is a wonderful detour worth considering. Just a short drive from downtown Colorado Springs, it features a charming walkable downtown lined with unique shops, stunning mountain views, and plenty of character. It is also home to the famous Manitou Incline, one of the most well-known hikes in Colorado.

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Day 2: The Best Pet Friendly Outdoor Spots in Colorado Springs

Day 2 is all about the outdoors, and Colorado Springs delivers in a big way. Your body has had a night to settle into the altitude and your pup is ready to explore.

Morning: Garden of the Gods

Garden of the Gods is completely free to visit and is the most iconic thing to do in Colorado Springs, a landscape so dramatic and otherworldly it truly feels like a garden fit for the gods. Towering red rock formations rise out of the earth against a backdrop of Pikes Peak, and no matter how many times you visit, it never gets old.

Our family was absolutely in awe from the moment we drove in. And true to form, our dad immediately pulled out his phone and went live on Facebook. If you know Filipino parents, you know. We have the video to prove it and honestly it is one those funny road trip moments you will not forget.

Dogs are welcome throughout the park on a leash no longer than 6 feet. There is also a small off-leash area near the entrance, do note that it is not fenced. The Visitor Center is worth a stop. It has a cafe, a gift shop, excellent exhibits, great views of the gardens from inside, and a clear sightline to Pikes Peak. And you can also make a stop at the Trading Post for souvenirs or a bathroom break.

For hiking, the Palmer Trail is Tira-approved and offers a beautiful elevated view of the park. Start from the main parking lot and work your way to the Central Gardens. The Upper Loop Trail to the Central Gardens is another solid option. Do not leave without seeing Balanced Rock and the Siamese Twins formation.

Local tip: Go early, especially in peak season. Arriving before 8am on a weekday means smaller crowds, better parking, and the most beautiful morning light on the rocks. You can even drive through the park and feel completely awestruck without leaving your car. Before you leave, stop at the Highpoint Overlook, and if you want to escape the tourist crowds, take the Old Colorado Trail just a little further out. The views are just as good with far fewer people. Take it from a local.

Mid-Morning: Red Rock Canyon Dog Park

Just minutes from Garden of the Gods, Red Rock Canyon Dog Park is Tira’s favorite spot in all of Colorado Springs. It is a large, fenced off-leash dog park with a hiking trail running through it, stunning views of Pikes Peak, and you can even see Garden of the Gods from here. Your pup will be in heaven sniffing every inch of trail while you soak in some of the best scenery in the city. It does get busy during peak season, so arriving early is always the better move. And beyond the dog park itself, the surrounding area offers plenty of additional trails to explore.

Afternoon: Bear Creek Park

Bear Creek Park is a local favorite for a relaxed afternoon picnic with the whole family. It has a designated pet-friendly off-leash area, open green space, and a peaceful creek-side setting that feels like a real escape from the city. Pack your lunch and make an afternoon of it. This is the kind of park where time slows down in the best way.

Late Afternoon: The Broadmoor Seven Falls

The Broadmoor Seven Falls is one of Colorado Springs’ most beautiful and dramatic natural attractions, a series of seven cascading waterfalls tucked into a narrow granite canyon. It is pet friendly, and the walk through the canyon landscape is genuinely stunning.

Before you go, here is an important logistics tip that will save you time: all visitors must park at the Norris Penrose Event Center at 1045 Lower Gold Camp Road, where a complimentary shuttle transports guests to the entrance, located about four miles from the park. The shuttles and park are both pet friendly, so Tira is welcome for the whole ride. Do not make the mistake of driving toward the canyon entrance as we did. Follow the signs to the Norris Penrose lot and save yourself the extra time. Plan ahead and purchase your tickets online in advance. Entry is timed, so booking early will save you from waiting in line and make your shuttle experience much smoother.

Once you arrive, be prepared to be on your feet. From the shuttle drop off it is approximately 0.8 miles to the base of the falls, with many points of interest along the way. The walk itself is breathtaking as you move through the canyon walls, and we loved every step of it. Tira did too.

Tira was incredibly brave and made it, but we would not recommend it for dogs that are not physically capable of the climb or comfortable with heights. The views from the top, however, are absolutely worth it for those who make it up.

Dinner: Pub Dog Colorado

End Day 2 at Pub Dog Colorado, the only restaurant in the entire state of Colorado where it is legally permitted to dine indoors with your dog. Yes, indoors. Your pup sits right beside you at the table. After a full day on your feet it is the perfect way to wind down.

The restaurant features 9,000 combined square feet of indoor and outdoor off-leash space, a full bar with local craft beers and dog-themed cocktails (the Bloodhound Bloody Mary is iconic), a scratch kitchen with pub favorites, and a dedicated dog menu with Puppy Patties, Pupsicles, and Puppuccinos. Tira approves wholeheartedly.

They operate on a small membership basis which is added to your bill. It is how they maintain the legal indoor dining-with-dogs status. They also have regular events like breed meetup nights and weekend brunch specials. Check their website for the current schedule before you go.

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Day 3: Pikes Peak and Royal Gorge

Day 3 is the big one. By now you and your pup have had two full days to settle into the altitude, which makes this the right day to take on Pikes Peak and Royal Gorge. Both are bucket list experiences and they pair perfectly as a full day out.

Morning: Drive Pikes Peak Highway, a Scenic Dog Friendly Drive You Cannot Miss

No Colorado Springs trip is complete without at least starting the drive up Pikes Peak, one of the most famous fourteeners in Colorado at 14,115 feet above sea level. Dogs are allowed on the highway and at pullouts. Just note they are not permitted inside the Summit Visitor Center.

We went as a full family and the drive up was something else entirely. The views get more dramatic with every switchback and our reactions got louder with every turn, which was a little too much for our dad who is afraid of heights. At one point he genuinely wanted out of the car. We still laugh about it. Meanwhile Tira was completely unbothered and living his best life.

A few things to prepare for before you go. Some of us felt genuinely sick at the summit from the altitude. The air is noticeably thin up there and it hits fast. Drink plenty of water, take it slow, and do not be surprised if you need to sit down when you reach the top. And when you do, do not skip the famous Pikes Peak donuts. They have been a summit tradition for over a century, made fresh daily from a recipe that only works at 14,115 feet, and they are unlike anything you will find anywhere else.

Also prepare for sudden and dramatic weather changes at the summit, even in the middle of summer. When we reached the top it was snowing and we were not prepared at all. Bring a jacket, and then bring a warmer one just in case.

Stop at Crystal Creek Reservoir, located about 6 miles up the highway at over 9,200 feet, for a gorgeous view and a good turnaround point if you are not doing the full summit. The full drive takes about an hour each way, not counting stops, so plan accordingly.

On the drive down, use a low gear rather than riding your brakes on the steep descent. Pikes Peak Highway Rangers conduct a mandatory brake temperature check at Glen Cove, about halfway down, and if your brakes are running too hot they will ask you to pull off and cool down. That happened to us and it honestly turned into one of our favorite moments. We grabbed a bite at the cafe, laughed, and recapped the entire wild adventure. Do not stress it, just enjoy the pause.

Afternoon: Royal Gorge Bridge and Park

Royal Gorge Bridge and Park is about 45 minutes from Colorado Springs and is one of the most dramatic experiences in the entire state. The Royal Gorge Bridge is the highest suspension bridge in the United States, spanning 956 feet above the Arkansas River, and yes, your dog can walk across it with you.

Beyond the bridge, the park has zip lines, aerial gondolas, and a stunning canyon rim trail. It is a full half-day activity easily. Tickets are required and should be purchased in advance as it sells out on busy summer weekends.

Evening: Campfire Night

After a day like that, we came home, fired up the grill, and gathered around the campfire. The whole family together under the Colorado sky, it was the perfect way to end the biggest day of the trip. Those quiet campfire moments after a big adventure are honestly some of our favorites.

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Optional Pet Friendly Easy Hiking Adventure in North Cheyenne Cañon Park

If you prefer hiking and scenic views over a long drive, North Cheyenne Cañon Park is a wonderful free alternative with some of the prettiest trails in Colorado Springs.

• Helen Hunt Falls, a gorgeous waterfall viewable on an incredibly easy 0.1-mile out-and-back trail right next to the Visitor Center. Suitable for all skill levels and all dogs. If you hike a little further up, you reach an overlook with sweeping views of Colorado Springs below.
• Silver Cascade Falls Trail, a slightly longer 0.6 to 1-mile round trip starting from the top of Helen Hunt Falls, leading to a higher cascade with stunning city views.
• Before leaving, drive Gold Camp Road for thrilling mountain scenery and panoramic views. Keep dogs leashed as the area has steep drops.

More Pet Friendly Parks in Colorado Springs

Colorado Springs is full of green space. A few more worth knowing about:

• Palmer Park, free with great trails and beautiful views of the city and Pikes Peak
• Pulpit Rock Park, free with quieter trails, good for a peaceful morning walk
• Cheyenne Mountain State Park, fee required with an excellent trail system with wildlife and mountain scenery

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Pet Friendly Restaurants in Colorado Springs

Beyond Pub Dog and Hafa Adai, Colorado Springs has a great dog-friendly dining scene. Here are a few more spots worth adding to your list:

• Switchback Coffee Roasters, a beloved local coffee shop with two downtown locations, welcoming to dogs on their patios with water bowls ready. Their breakfast sandwich is legendary. Perfect for a morning fuel-up before hitting Garden of the Gods.
• Cerberus Brewing Co., a dog-friendly brewery with a great patio, beer garden, and outdoor tent area. They even offer homemade spent grain dog treats alongside their craft beers. The Great Plains Bison Burger is a standout.
• Goat Patch Brewing Company, self-proclaimed home of the balanced brews, located in a reimagined elementary school in the Lincoln Center neighborhood. Dog-friendly patio with rotating food trucks.
• Lazy Dog Restaurant, a reliable and comfortable patio spot with a full dog menu including a grilled hamburger patty or chicken bowl with rice and veggies for your pup. Great for a relaxed dinner after a big outdoor day.

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Where to Stay: Pet Friendly Accommodation in Colorado Springs

There are plenty of pet friendly options in Colorado Springs across all budgets. As a family, we found that renting a Vrbo worked best for us. Having a full kitchen, outdoor space, and room to spread out made the trip so much more comfortable, especially with Tira. We cooked and grilled a lot of our meals which kept costs down significantly. If you are visiting in summer, book early. Colorado Springs is popular and the good properties go fast.

If you prefer a hotel, here are top-rated pet friendly options in Colorado Springs with pet fees noted (because we all know those can sneak up on you)

Pet Friendly Colorado Springs Budget and Mid-Range Hotels

• Best Western Plus Peak Vista Inn & Suites. Dogs allowed (limit 2, max 80 lbs per pet). Pet fee: $35 per accommodation, per day. Service animals exempt.
• Drury Plaza Hotel Colorado Springs Near the Air Force Academy. Pets allowed (limit 2, max 80 lbs per pet). Pet fee: $50 per accommodation, per night. Service animals exempt.
• Hotel Polaris. Dogs welcome. Pet fee: $35 per accommodation, per stay.

Pet Friendly Colorado Springs Luxury Hotel Options:

• The Broadmoor. Pets allowed (limit 2). Pet fee: $100 per pet, per night. Service animals exempt.
• Garden of the Gods Resort and Club. Dogs allowed (limit 1, max 40 lbs). Pet fee: $200 per stay plus a $200 cleaning fee. Service animals exempt.
• Flying Horse Resort & Club. Pet fee: $75 per pet, per night.

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Tips for Visiting Pet Friendly Colorado Springs with a Dog

• Always leash your dog at 6 feet or less. This is the rule across Colorado Springs parks and trails.
• Hydrate constantly. The altitude and dry Colorado air will dehydrate both you and your pup faster than you expect. Bring more water than you think you need.
• Watch for altitude signs in your dog. Lethargy, heavy panting, or reluctance to walk can be signs of altitude adjustment, especially on Pikes Peak. Take it slow.
• Pack all your pet essentials. Leash, collapsible water bowl, waste bags, and any medications. Check out Tira’s pet travel gear favorites for our full recommended list.
• Leave no trace. Please pick up after your pet on every trail and in every park.
• Go early in summer. Garden of the Gods and Red Rock Canyon Dog Park fill up fast. Arriving before 8am means better parking, fewer crowds, and a much more peaceful experience.
• Book Pikes Peak tickets ahead of time. To drive past mile 7 on the Pikes Peak Highway you need to purchase both a timed entry permit reservation and a daily admission ticket. The timed entry permit is required from the Friday before Memorial Day through September 30 and costs an additional $2 per vehicle. Book both at DrivePikesPeak.com before you go.
• Know what is off-limits. Dogs are not permitted inside the Pikes Peak Summit Visitor Center, so plan to take turns exploring inside while someone stays outside with your pup.

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Final Thoughts: Is Colorado Springs Worth Visiting with Your Dog?

Absolutely. Colorado Springs is the kind of place that gets better every time you visit, especially with a dog by your side. Between the free natural wonders like Garden of the Gods, the adrenaline of Royal Gorge, the magic of Pikes Peak, and the one-of-a-kind experience of Pub Dog Colorado, there is genuinely nothing quite like it anywhere else in the country.

We fell in love with this city on a road trip. We hope you fall for it too.