According to the Pasadena Municipal Code (6.12.010), you must have control of your dog at all times.  At home, the dog must be kept in your house or contained by a fence; it must be on a leash whenever it leaves your property.  A dog found running at large (a "stray") or tied in an unfenced yard can be impounded and taken to the Pasadena Humane Society shelter.  Its owner can be issued a citation and be liable for payment of the impound and boarding fees.  The impound fee rises rapidly for repeat offenses.

Laws vary by city, please check with your city hall for details.

Glendale animal laws are posted at: http://www.ci.glendale.ca.us/gmc/6.asp and their leash laws: http://www.ci.glendale.ca.us/gmc/6.04.asp#6.04.190

The only public place dogs are allowed off leash is in officially designated off-leash areas, such as dog parks and beaches.  The following page is a list of those located in nearby areas:
http://www.phsspca.org/PetOwnersGuide/dogparks.htm