This is a large neighborhood with many places to explore on foot with your pet. Check the weather before heading out though, as New Jersey's climate can change quickly thanks to its proximity to the Atlantic Ocean. The summers can be very hot and the winters freezing with plenty of snow. Hot sidewalks are dangerous to doggie paws, so try to head out earlier in the morning on a humid summer day. If you absolutely have to go out, consider looking into buying paw protectors.
There are several grassy spots throughout Upper Irvington. While some of the sidewalks are just concrete, there are many with grassy verges and trees bordering the roadway. Some of the roads are a little hilly, but it's not extreme and shouldn't tire you or your pup out very quickly. The neighborhood spans about 2-3 square miles, offering plenty of places to go.
The Clinton Cemetery Association is also located in the center of the neighborhood. There are many other small grassy spots and playgrounds, such as the Parkway Playground, throughout Upper Irvington that you're sure to run into along the way. There are many spots to sit and rest with your pup. As a suburban residential area, the neighborhood offers a quieter place to walk with your pooch, enjoying some tree-lined sidewalks and foliage along the way.