One of my favourite beaches the walk to is Stewart Bay. This beach is located at the end of Stewart Avenue in View Royal and has a spectacular view and nice hidden beach. I took my dog there for a walk the other day at golden hour and it was beautiful.
To get to the beach, you do have to go down quit a few stairs, but there is a bench down on the rocks and one above the beach so you can still see the view without walking down the stairs.
My dog Koko is my favourite adventure buddy, and she is a big fan of this beach.
Here is a link for the maps of how to get to Stewart Bay!