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Pets are allowed, and permitted to explore areas of the scenic park and walk the seawall trail. You can reach Fort McHenry by water taxi from the Baltimore Inner Harbor or by car. 2400 E. Fort Ave. Baltimore, MD
Cruises on the Bay offers a narrated Baltimore Harbor boat cruise. You can check out the attractions of the Inner Harbor including the iconic Domino Sugar sign, Fort McHenry, and the Key Bridge.
Dogs must be leashed, but they get to cruise for free!
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Locations vary, many provide pet assistance.