I would think you would be able to take your dog. Keep it leashed with kids around, and clean up after
This is what Clinton State Park says about pets. I would have thought they would have let pets be at the beach as well. But, sadly they say no. - "Pets must always be restrained by a camper, cage, hand-held leash, or tethered chain no longer than 10 feet. They are not allowed on swimming beaches or swimming areas that are delineated by buoys or other markers or in public buildings or structures. Dogs participating in authorized activities or assisting the visually or hearing impaired are not subject to these restrictions."
Agreed with mike
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