Taughannock Falls State Park, NY
Taughannock Falls is 33 feet higher than Niagara! The hike is less than an hour round trip. It is a wide, heavily-trafficked trail near Ithaca, NY. I suggest going on a weekday or early in the morning to beat crowds.
There is also picnicking and lake shore access (Cayuga Lake) from the parking lot (fee).
You must have gone with some cool cousins.