Carolina Pines dog park is at 2305 Lake Wheeler Rd, Raleigh 27603. Oakwood dog park is at 910 Brookside Dr, Raleigh 27604. Millbrook Exchange dog park is at 1905 Spring Forest Rd, Raleigh 27615.
Cary dog parks require registration with Cary and a pass (scanned at entry) to enter the dog park.
What David said is correct. There's also a free park in Holly Springs that is nice, if you're closer to there. :)
It requires registration (fee) and you must scan a pass to enter. There are a few parks in Raleigh that are fully open. Checkout Dix or Millbrook
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