I love Dreamy Draw! There's always plenty of parking. Plus they have bathrooms, a ranger station on site, water fountains, lots of covered picnic tables and even grills. Come and have dinner with the family. Or pack up some water and snacks and head out on the trails. There's lots of trails to choose from here in any direction -- paved paths, easy desert nature trails and more rigorous climbing up the peaks.
Super convenient right off the Northern exit off the 51. Just follow the signs for "Dreamy Draw." The entrance gate closes at 7pm, so get there before then. You can still exit after that time, so don't worry about getting locked in there. You can have dogs on a leash or even ride your pony up these trails. Some are brave enough to take bikes too.
This is the desert -- be prepared! You will need water. And then, you'll also need more water. Beware of rattlers, scorpions, coyotes and jackrabbits (I think those things are terrifying!)
Have fun and be courteous of the public park. Pick up after yourself!