For a short walk to sweeping city views, head to the highest hill in San Francisco. Mount Davidson is just south of Twin Peaks and often recognized for its 103-foot concrete cross. Explore the 38 acres of public open space surrounding this urban pinnacle. Starting from a residential neighborhood, walk up a path through a eucalyptus forest and within minutes arrive at a large plateau that opens wide to views of the San Francisco skyline, the Marin Headlands, the Pacific, and Mount Diablo. For slightly better views, take the wooden stairs down to another outcropping. There are plenty of trails to tread, so stay awhile. Good city limits.
Many unmarked paths lead to the top. To take the wide fire road up, park along Dalewood Way (It's a steep drive up!; map). Look for the gated trail after topping out on the road. Dog-friendly!