The Cape Cod National shoreline is designated as a National Park, and a 17-minute drive from Truro to Provincetown, Massachusetts will get you to the Herring Cove portion. This serene beach is found at the end of Cape Cod, and it is popular with both locals and tourists who are looking to have a great beach day. Despite its popularity, the beach always feels peaceful. Your dog can accompany you to the beach if he's on a leash. There are restrooms, food, drinks, showers, and plenty of parking along Herring Cove, which makes it a convenient place to spend a day with your dog.