There are many dog-friendly restaurants along Manitou Avenue, Manitou Springs' main stretch. Most of them allow four-legged friends outside on patios during warm days and there a few that allow pets indoors, but do your research beforehand! If you're a tourist in the area, take your pup to the Manitou Cliff Dwellings where dogs are allowed both in the museum and the cliff dwellings.
Most of Manitou Springs' side roads are fairly quiet traffic-wise, but always keep an eye out for passing cars and keep your pet on a tight leash. Make sure to bring and drink plenty of water, especially if you're not from the area, because the high altitude can get to you. The residential roads might be steep and intimidating, but the views are definitely worth it.
Two other moderately difficult trails in Manitou are the Barr and Catamount Trails. The Barr Trail takes you up 7,800 feet to the top of Pikes Peak while the Catamount Trail is a six-mile moderate trail. If you'd prefer easier hikes and fun greenways to relax, there are a few places you can go. Right off Manitou Avenue is Memorial Park, a small greenway surrounding a creek where you and Fido can go and relax.