Dog-friendly outings, places to eat and places to stay in South Dakota, city by city. Every spot below was checked against a published dog policy (the venue itself, BringFido or the park authority) – tap a name for our notes, or see them all on the Dog Fun Map.
Custer
🍽 Where to eat:
- Mt. Rushmore Brewing Company & Pounding Fathers Restaurant
- The Custer Wolf
- Begging Burro Mexican Bistro & Tequila Bar
🏨 Where to stay:
Rapid City
🍽 Where to eat:
🏨 Where to stay:
- Days Inn by Wyndham Rapid City
- La Quinta Inn and Suites by Wyndham at WaTiki Waterpark
- GrandStay Residential Suites Rapid City
🐕 Doggie daycare:
- Barking K-9 Doggie Daycare – Doggie daycare in Rapid City.
- Meadow Ridge Pet Lodge – Pet lodge with dog daycare.
Sioux Falls
🍽 Where to eat:
🏨 Where to stay:
- Clubhouse Hotel Suites Sioux Falls
- My Place Hotel – Sioux Falls SD
- Baymont by Wyndham Sioux Falls
- Best Western Plus Ramkota Hotel
🐕 Doggie daycare:
- Paws Pet Resort – Dog daycare at a south Sioux Falls pet resort.
- Dog Days Hotel & Day Camp – Dog day camp, boarding and grooming.
- Precious Pets Salon & Doggie Daycare – Doggie daycare and grooming salon.
Our notes on each spot
Custer
Custer State Park · Outing
🐾 Leashed dogs welcome; not at swimming beaches or in park buildings
71,000 acres with the 18-mile Wildlife Loop drive and dog-friendly trails like the seven-mile Black Elk Peak Loop.
Visitor Center, 13400 US-16A, Custer, SD 57730
Cathedral Spires Trailhead · Outing
🐾 Leashed dogs only (mountain goats and other wildlife in the area)
A moderate to strenuous 1.5-mile out-and-back among rock spires, just off Needles Highway.
2.5 miles E of Sylvan Lake on Needles Hwy, Custer, SD 57730
Black Hills National Forest · Outing
🐾 Leashed dogs welcome; not in every campground
Rock formations, canyons, grassland, streams and lakes, with trails shared with bikes and horses.
1019 N 5th St, Custer, SD 57730
Mt. Rushmore Brewing Company & Pounding Fathers Restaurant · Restaurant / cafe
🐾 Dogs welcome on the deck or at an indoor high-top table; kitchen open in summer
House-brewed ales, porters and stouts, with pizza and pub food in the summer months.
140 Mt Rushmore Rd, Custer, SD 57730
The Custer Wolf · Restaurant / cafe
🐾 Dogs welcome on the covered patio
Fresh food like kettle chip nachos, a walleye po'boy and a falafel burger, with craft beer and wine.
506 Mt Rushmore Rd, Custer, SD 57730
Begging Burro Mexican Bistro & Tequila Bar · Restaurant / cafe
🐾 Dogs welcome at the three patio tables; open May–September
A seasonal Mexican bistro with a tequila bar.
529 Mt Rushmore Rd #1531, Custer, SD 57730
Super 8 by Wyndham Custer/Crazy Horse Area · Hotel / motel
🐾 2 pets of any size in designated rooms for an additional fee of $30 per pet, per night
A base for exploring the Black Hills, with a grassy area for dogs.
535 West Mt. Rushmore Road, Custer, SD 57730-1542
Google Maps · Dog policy source (BringFido, reviewed 2026-07-08)
Rocket Motel · Hotel / motel
🐾 Two dogs of any size in designated rooms for an additional fee of $10 per pet, per night; pet-friendly rooms can’t be booked online – call the motel at (605) 673-4401
A central Custer motel, walking distance from the 1881 Courthouse Museum.
211 Mt. Rushmore Rd, Custer, SD 57730
Chalet Motel · Hotel / motel
🐾 Pets up to 30 lbs are welcome for no additional fee
Renovated little cottages with a fridge and microwave, and green grass, tables and a gazebo outside.
933 Mt Rushmore Rd, Custer, SD 57730
Google Maps · Dog policy source (BringFido, reviewed 2026-05-06)
Rapid City
Dinosaur Park · Outing
🐾 Leashed dogs welcome; not inside buildings; hours vary by season
Free to explore since 1936, where your dog can walk among prehistoric giants.
940 Skyline Dr, Rapid City, SD 57701
Braeburn Park Dog Park · Outing
🐾 Off-leash, unfenced
An off-leash area with a creek for dogs to splash in. It isn't fenced.
3350 Idlehurst Ln, Rapid City, SD 57702
Dog Park at Robbinsdale Park · Outing
🐾 Off-leash in the designated area south of the picnic tables; not fenced
An unfenced off-leash area in a city park.
631 E Oakland St, Rapid City, SD 57701
Wine Cellar Restaurant & Wine Bar · Restaurant / cafe
🐾 Dogs welcome on the patio
Relaxed fine dining downtown with a huge wine list and food made to order.
513 6th St, Rapid City, SD 57701
Thirsty's · Restaurant / cafe
🐾 Dogs welcome on the patio
Tex-Mex with a long list of beers on tap.
819 W Main St, Rapid City, SD 57701-2637
Murphy's Pub and Grill · Restaurant / cafe
🐾 Dogs welcome on the seasonal patio; pup patties on the dog menu
Pub food like beer cheese soup, buffalo meatloaf sandwiches and elk stroganoff.
510 9th St, Rapid City, SD 57701
Days Inn by Wyndham Rapid City · Hotel / motel
🐾 2 dogs up to 40 lbs for an additional fee of $35 per pet, per night
Within an hour of Mount Rushmore and about six miles from the airport, with a pool.
1570 N Lacrosse St, Rapid City, SD 57701
Google Maps · Dog policy source (BringFido, reviewed 2026-09-28)
La Quinta Inn and Suites by Wyndham at WaTiki Waterpark · Hotel / motel
🐾 2 pets up to 75 lbs for an additional fee of $25 per pet, per night
Next to the WaTiki waterpark, with free breakfast and a fenced pet walking area.
1416 North Elk Vale Road, Rapid City, SD 57701
Google Maps · Dog policy source (BringFido, reviewed 2026-05-26)
GrandStay Residential Suites Rapid City · Hotel / motel
🐾 2 pets of any size in designated rooms for an additional fee of $25 per pet, per night (not to exceed $125), plus a refundable deposit of $150
An all-suite hotel with a grassy relief area.
660 Disk Dr, Rapid City, SD 57701
Google Maps · Dog policy source (BringFido, reviewed 2026-06-08)
Sioux Falls
Falls Park · Outing
🐾 Leashed dogs welcome
128 acres on the Big Sioux River with waterfall viewing platforms and a five-story observation tower.
131 E Falls Park Dr, Sioux Falls, SD 57104
Dog Park at Spencer Park · Outing
🐾 Off-leash fenced dog park
A fenced off-leash area with separate sections for small and large dogs.
3501 Cliff Ave, Sioux Falls, SD 57105
Good Earth State Park · Outing
🐾 Dogs on a leash no longer than 6 ft
Hiking trails, picnic areas, historic sites and good photo spots.
26924 480th Ave, Sioux Falls, SD 57108
Mary Jo Wegner Arboretum · Outing
🐾 Leashed dogs welcome
155 acres with art along the paths, scenic trails and river access for canoes and kayaks.
1900 S Perry Pl, Sioux Falls, SD 57110
Monks House of Ale Repute · Restaurant / cafe
🐾 Dogs welcome on the deck; quiet, well-behaved, leashed dogs also allowed inside
A craft beer bar with over 150 beers, plus dog biscuits and water.
420 E 8th St, Sioux Falls, SD 57103
Josiah's Coffeehouse & Cafe · Restaurant / cafe
🐾 Dogs welcome inside or on the patio; doggy menu
Coffee, scones, wraps, paninis and pizza, with a doggy menu.
104 W 12th St, Suite 100, Sioux Falls, SD 57104
Remedy Brewing Company · Restaurant / cafe
🐾 Dogs welcome at indoor and outdoor tables; water and treats
A trendy brewpub serving dishes like a Bavarian soft pretzel.
401 E 8th St, Sioux Falls, SD 57103
McNally's Irish Pub · Restaurant / cafe
🐾 Dogs welcome at outdoor tables
Pub food and Irish dishes, from drunken mussels to Jameson whiskey steak and bangers and mash.
6211 S Old Village Pl, Sioux Falls, SD 57108
Clubhouse Hotel Suites Sioux Falls · Hotel / motel
🐾 Pets of any size for an additional fee of $30 per night; pets can’t be left alone in the room; the Presidential Suite isn’t pet friendly
River views, treats at check-in and a pet relief area.
2320 South Louise Avenue, Sioux Falls, SD 57106
Google Maps · Dog policy source (BringFido, reviewed 2026-10-08)
My Place Hotel – Sioux Falls SD · Hotel / motel
🐾 2 pets with a combined weight up to 80 lbs with an additional fee of $20 per night
Minutes from the Empire Mall and Xcite Family Fun Center.
3005 S. Carolyn Ave, Sioux Falls, SD 57106
Google Maps · Dog policy source (BringFido, reviewed 2026-05-06)
Baymont by Wyndham Sioux Falls · Hotel / motel
🐾 1 pet of any size in designated rooms for an additional fee of $25 per night, and 2 pets of any size for $30 per night
A good-value hotel. Pets stay on the ground floor.
3200 South Meadow Avenue, Sioux Falls, SD 57106
Google Maps · Dog policy source (BringFido, reviewed 2026-09-28)
Best Western Plus Ramkota Hotel · Hotel / motel
🐾 2 dogs up to 80 lbs for an additional fee of $30 per night
A big hotel with its own indoor water park and a grassy relief area.
3200 W Maple Street, Sioux Falls, SD 57107
Google Maps · Dog policy source (BringFido, reviewed 2026-05-06)
Restaurant patio rules and hotel pet fees change – call ahead or confirm when booking. We list only places with a published dog policy, and we never add star ratings or reviews we didn’t write.
Doggie daycares are listed with a note from each business’s own website. Most ask for a meet-and-greet or temperament check and current vaccinations – contact them before your first visit.
Disclosure: City Pups is reader-supported. “Book this stay” links go through our booking partner Stay22, and if you book through them we may earn a small commission, at no extra cost to you. No hotel paid to be listed.