While each of Pacifica’s beaches is dog-friendly, Esplanade Beach is the only one that is officially leash-free. This secluded beach can be accessed via a long set of switchback trails and stairs at the north end of Esplanade Drive, near the Lands End Apartments. The steep rugged bluffs and soft sand contribute to this hidden treasure, but visitors will want to check tide tables before going as the beach is very narrow during high tide and it can be dangerous during stormy weather.