The falls were just an amazing site to take in. The first falls you see from the parking lot are just touching what is hidden in the woods.
The hike is one of the nicer hikes I've taken in a while. It has its difficult parts depending on if you take the trail or the steps. There are many more spectacular views of falls and water cutting features in the rock formations.
I walked with my 2 dogs, so yes, dog friendly just keep a eye on them as they just wanted to swim and there are several locations they could but just as quick they could get caught in rock joint or slip on a formation and bad things can happen quickly, so keep them close.
Restrooms were clean, and the grassy area around the restrooms was a great resting area for your pups.
Just beware of the ticks. Found about 8-10 on my one dog and 2 on the other. Yes, you're in a wooded area, so one should be prepared to check for ticks.