The train connections between some of the Prague's train stations are quite good. It takes 6 minutes from Libeň to Holešovice by train while you have to take tram, bus and another tram to get there not by train.
Also, dogs can travel for free in trains and other public transport :)
Then you arrive here at Nádraží Holešovice - this is quite new part with those office buildings and by the river promenade.
With Trojský bridge views.
And option to promedane all the way to Stromovka... and enter it from the back.