Point Isabel Regional Shoreline, Richmond, California

Point Isabel is the popular dog spot on the northeast bay shoreline, walking the perimeter is an easy 2-mile stroll just watch out if it's low tide and your dog likes to run down into the mud.  Plus great views of the bay, San Francisco and the Golden Gate if it's a clear day.

Berkeley Hills, Berkeley, California

There are many unnamed trails in the hills behind the Berkeley campus with great views of the Bay Area.

Fort Point & Crissy Field, San Francisco, California

Starting from Crissy Field the walk to Fort Point and back is nice and scenic, the brief parts along the road to Fort Point are compensated for with the off-leash play at Crissy Field and the beach.