As of August 1st,2021, dogs are not allowed on the boardwalk but can be on the beach only @ 8th/9th street from 6 pm - 8:30 am only (but several show up between 5 & 6 pm...technically, they could be fined if they're there before 6). A day beach pass is $6 if you buy it at the 8th street booth (8th street and the boardwalk). I think it's $7.50 if you buy it through their mobile app ($1.50 "convenience" fee.}. Nearby parking is $0.25 per quarter hour (use their Asbury Park mobile app). If you're willing to walk just a few blocks, there's free parking in the residential area on the other side of Deal Lake.
Yes there is a fee and parking close to the beach is $25 & i think it was $12 for adults kids under 12 is free
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