As my girlfriend has two dogs, the many parks of Sheffield have become regular destinations that I visit. One such park is Chelsea Park, this park is situated funnily enough on Chelsea Road which is on the outskirts of the city centre.
It is a small park that has plenty of grass areas that dogs can enjoy and it allows for a nice walk for the owners too. The park is frequented by many dog owners so there is often other dogs their that your dogs can socialise with, but make sure that they don't forget their tennis balls.
Chelsea Park also has great appeal to anyone who has kids as there is a playground for the children to enjoy and allows for parents to have a much needed rest. Also, there is a basketball court/football pitch which allows for the whole family to have fun together and make fantastic memories. Additionally, if your children are older they can visit the park with their friends.