Pets are allowed in developed areas such as: in your cars while driving park roads, frontcountry campgrounds, picnic areas, along roads when you are stopped, in parking areas, and in boats on lakes where motorized watercraft are permitted.
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Pets are allowed in public areas, parking lots and within 100 feet of any road. They must be on a leash that is not longer than 6 feet in length at all times. Visitors are not allowed to tie their pet to trees or other objects and leave them unattended. Pet kennels cannot be left outside of vehicles.
Pets are only allowed on paved surfaces, including park roads and campgrounds, the Shared-use Path, paved viewpoints (all viewpoints except Piracy Point), and the 1/2 mile (0.8 km) section of Rim Trail between Sunset and Sunrise Points.
In Yosemite Valley, dogs are allowed on any paved or boardwalk trail including Bridalveil Fall, Lower Yosemite Fall Loop and Cook's Meadow. However, Horsetail Falls Trail is only for human visitors. Don't forget to bring plastic bags to pick up after your pet.