This is a great find half an hour from Madison. The park has a variety of trails through woods, prairie and along the lake. Most of them are loops so you can do as short a hike as you want or add several loops together and spend a few hours. They are also decently hilly so that's fun too. My favorite trail runs along the lake, great views! Be cautious though, the narrow trail through the woods does border a steep decline to the lake. It's worth it though, great views!!
The other nice thing about this park (at least when I've been there) is that there aren't very many people around so it's easy to hike around and barely see anyone else. Some of the trails bump up against neighborhoods so that's interesting, emerging from the woods into a prairie and then seeing houses. Must be nice to have this park as your back yard though!
Dogs are allowed in this park, on leash of course. There are garbage cans near the parking lot and a small beach area. Also near the parking lot is a playground and a shelter with a number of picnic tables. Definitely worth the drive. We will be back!