The one-year Discover Pass for $30 is a great bargain since it will actually encourage you to use state parks more. Three times and the annual pass is paid for. It's also good for a lot a boat ramps and trail heads all over the state.
Definitely pet friendly, technically they should stay on leash, but so long as they are well behaved, nobody on the beach cares. As this is a state park, it is free with a Discover Pass or you can pay for just the day for $10.
On leash, clean up after your pet. $10 for parking pass for the day or $ 30.00 for a yearly pass to all Washington State Parks
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