If you are looking for a gorgeous dog friendly hike then check out Portagabra Track in Mundaring. You can find it attached to Fred Jacoby Park which has lovely picnic ground and well-maintained facilities.
The walk is a 4km-ish loop and gives a good range of terrains. A reasonable amount of fitness is required as there are some stairs and steep bits - nothing too huge though.
We packed up our camp stove and picnic and headed out early on a crispy cold morning. It was 4 degrees when we arrived! brrrr.... We soon warmed up on the walk and loved seeing the bright pops of colour from fresh growth, after a controlled burn went through. The children enjoyed resting by the creek that runs through the area and climbing on rocks to explore. Our dog Noodles just loved running wild through the bushland.
So, if you are looking for a weekend day trip, be sure to check this one out.