Orara East State Forest has some really good and easily accessible dog friendly bushwalks and things to do near Coffs Harbour. 

The Forest Sky Pier is a lookout in Coffs Harbour that is an easy stop even if you are short on time and just passing through. It has a short loop walk from the same carpark if you or your dog need to stretch your legs and there are plenty of walks to do in the area (which are also dog friendly) if you have more time. 

See all my track notes below for photos and also visit the Official Foresty Page for Orara East State Forest with handy maps and notes plus advice on staying save.