Ness Beach (the one through the Smugglers Tunnel)
Dogs are allowed on Ness Beach all year round.
River Beach (the one the Ferry leaves from)
Dogs are not permitted from 1 April to 30 September along the seashore between the Clipper Quay (at the back of the Clipper café) along to the steps to the beach where Marine Parade changes to be one-way only (and the rowing boat full of flowers is there too).
Other local beaches
You can find the rules for all beaches in the Teignbridge area here.