One of Colorado's newest state parks, Staunton State Park is dog-friendly. You'll discover high grassy meadows next to tall granite cliffs that can be as tall as 10,000 feet. This park is home to 25 campsites that can be hiked to, but you need to make a reservation to guarantee a spot for you and Fido. The park is closed for some parts of the year for maintenance, so you should call ahead to check they are open on the dates you are looking to visit.
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