It is best to water deeply 2 to 3 times per week than to water daily. This will help maintain a deeper root system and protect against drought. If you can't push a 6” screwdriver into your lawn, you are not watering enough.
When possible, it is best to water as early in the morning as you can. Cooler temperatures and calm breezes help keep evaporation to a minimum. Watering in the morning keeps the turf cooler during the hottest parts of the day, which means less stress on the grass.
If the water does not absorb into your lawn quickly, you may need to dethatch. By doing so, you will remove a thick layer of decaying plant material so that water, air, nutrients, and fertilizer can reach the soil better, plus your lawn can drain more effectively.
Don't forget that your shrubs and flowers need water as well. In hot dry weather, you should water these plants daily.