The best city hikes and walks in Essex County

This bridge offers a nice view over the river and the marina, and has a half-mile connector path that connects the Clipper City Trail to the Old Eastern Marsh Trail.

Lynn Beach is quite expansive and encircles much of Nahant Bay leading out to the Atlantic. A paved trail runs along the length of the beach, and you can spend a lot of time riding right next to the water.

Lynn Beach is quite expansive and encircles much of Nahant Bay leading out to the Atlantic. A paved trail runs along the length of the beach, and you can spend a lot of time riding right next to the water.

T-Warf is one of the most iconic places in Rockport, if not all of Cape Ann. From here, across the moored boats, you can see the world-famous Motif Number 1, a replica of a former fishing shack well known to students of art and art history as "the most often-painted building in America." This iconic red building at the end of Rockport Harbor adorned in buoys is a classic New England maritime scene and a must-photograph for any visitor to Rockport.

Lynn Beach is part of the Lynn Shore Reservation, a protected coastal reservation. It includes 22 acres of beaches and places for people to publicly recreate. There is a paved walkway to run around the beach, so visitors can enjoy the Atlantic without getting their shoes sandy.

T-Warf is one of the most iconic places in Rockport, if not all of Cape Ann. From here, across the moored boats, you can see the world-famous Motif #1, a replica of a former fishing shack well-known to students of art and art history as "the most often-painted building in America." This iconic red building at the end of Rockport Harbor adorned in buoys is a classic New England maritime scene and a must-photograph for any visitor to Rockport.

At the end of Bearskin Neck is an amazing lookout over the Rockport Harbor and Atlantic Ocean. There are several parking spots - although driving is not recommended because driving down the busy downtown streets can be difficult and parking is hard - and stone benches for you to enjoy the view. If you wish, when the tides are low, you can walk out along a stone jetty that protects the harbor for even more spectacular, classic, New England seaside views.

Rockport's downtown area along Main Street and Bearskin Neck is a great place to spend the afternoon. There are many independent, local shopping boutiques, art galleries, restaurants (be sure to get a lobster roll!), coffee shops, and views of Rockport Harbor along these two streets. Most of the buildings are quite old and really give you a sense of maritime history here as you shop for local art and souvenirs.