Theodore Roosevelt Park is for residents during the summer. Just west of the park is a NYSDEC parking area with a boat launch and dock open to the public or launch from the small beachfront. Note that the area is between Theodore Roosevelt Park and Beekman Beach which are both Town Beaches requiring resident permits to park there. I’m not sure what the off season parking rules are for those beaches.
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If you have any questions about this paddling location or have other relevant information that would be helpful to other paddlers, please add them as comments below for the entire community!