Minnehaha Falls in Katoomba is a stunning 20m waterfall with the added bonus of a deep swimming hole beneath the cascade. To get to the bottom section, it’s around a 30min walk from the car park. At the carpark there is playground equipment and picnic tables.
The walk is on e very steep decline and involves stair climbing, which is probably not suitable for small dogs.
Be sure to keep your dog on leash at all times. This is not only to adhere to the rules but also to keep your dog/s safe from slipping down some of the steep cliff edges that’ll you’ll encounter during the walk.
The falls are particularity popular during summer, so if you want to dodge the big crowds then I suggest going in the early morning before 10am. The only downside of this would be that the water is still quite cold.