Cruise to historic Cambridge Maryland this weekend. Plan to stay at the Cambridge Yacht Basin Marina which is located on the beautiful Choptank River near the mouth of Cambridge Creek. (38° 34' 34.6944'' N / 76° 4' 27.5448'' W)
https://www.cambridgeyachtbasin.com/marina-information
The marina is fine with bringing your dogs into the bath house - A/C and cold floors are real treats for them and us on hot days.
There is a large open park at the Cambridge Municipal Yacht Basin.
It's a short walk to the center of town with lots of shops and restaurants, some with outdoor seating that allows your dogs to rest under the table while you dine.
The link above has all the details about the marina and its amenities, allowing you to book a slip online. You may also call (410-228-4031).