It's a private beach but there are a few spots near beach access point to park. I think if you are respectful and don't camp on the beach it wouldn't be an issue. This is the bay so dont expect large waves or clearer water. However it's incredibly serene and there are lots of shells and horseshoe crab husks to see. We rented a house this fall on Shore Dr and our toddler loved running up and down the beach with our dog. Yes dogs are allowed on the beach but must be leashed. There are many people that walk their dogs and if yours can't behave, please leash them.
