Kaaterskill Falls, located in Hunter, NY (about 2 hours from NYC) is the tallest cascading waterfall in NY, taller than Niagara Falls. It's made up of two falls totaling 260 feet in height. You can get to the falls via a Trolley system, with multiple parking points, look up www.kaaterskilltrolley.com/ It's dog friendly, a quick hike, well maintained and a gasp worthy view when you get to the top. Aside from not being able to park at the base like you used to, this is a great hike, one of my favorites.