One of the most interesting dog-friendly attractions that we have seen is this drive-through Cave in Springfield, MO. Leashed and well-behaved dogs are allowed on the tram tours. It’s a 50 minute tour on a jeep tram, so there is very little walking. They allow one dog on each jeep tour so you may have to wait a tour or two if there are other dogs ahead of you. There are picnic tables outside to eat at if you bring your own basket and some interesting hiking trails.