Colonial Williamsburg is by all appearances absolute genius at rolling pets into history. Not only is their main street, Duke of Gloucester, nicknamed "DoG Street," but the site itself is dog-friendly and full of fun activities for you and your fellow canine citizen.
Even better? Last year a new staff member was brought on board: Liberty, a brown Briard dog. Liberty, who will serve as mascot and therapy dog, is known onsite as "George Washington's dog," with good historical backing for the role; Washington had a fair amount of dogs, though in fact Thomas Jefferson was probably the one who brought the French Briard to these shores.
Really, you should just go read this excellent article right now. It's full of lovely photos, and the Colonial Williamsburg website - Making History - is perfect at bringing the past to engaging life.