Restrictions
First of all, if you live in a city with water restrictions they will set limits on how much you can water during the week. The city will send notifications about what the restrictions are. It is important to read the local watering restrictions and be sure to follow the bylaws.
Amount of Water
Everybody thinks you need to water your lawn multiple times a day, every day. This is a huge misconception. Lawns require 1-1.5 inches of water per week to thrive. Lawns build stronger roots and are healthier when they are not getting water every day. If they get lots of water every day they are spoiled and the roots don’t have to go down and deep to search for water and have shallow root systems which are not as strong as deep root systems.
Frequency
The recommended frequency I have found from reading lots of articles and trying it with my lawn is two to three times per week in the summer. In the Spring and beginning of Fall, you can even cut down the watering to once a week. Each time you water you should let the lawn soak for 20 mins for each section. Watering once or twice a week for 20 minutes on each section promotes a healthier lawn than watering every day at 10 minutes per section.
Weather
Pay attention to factors such as temperature, sunlight and precipitation patterns in your area. If one of your watering days falls on a rainy day then turn your sprinklers off and skip that watering day. Saving water will be good for your water bill and to promote a stronger healthier lawn.
Appearance
Note Any changes in your lawn’s appearance. A dry lawn may take on a blue-gray tint. Also if you notice you are getting yellow patches in certain areas you can give that section an extra watering per week, or use your hose with a sprinkler attachment to just water that section for an extra 20-30 minutes a week. If you notice all of you lawn turning a yellow then add an extra watering day to your cycle for the entire yard until you see it turn green again.
Irrigation System
Save water by positioning your irrigation system so that water reaches your grass, not the road, fence or driveway. If you see sprinklers watering too much of an area go to your local sprinkler supply store and by the appropriate head for your sprinkler so that it waters the right distance and the appropriate area. They have a head that water 360 degrees, 180 degrees, 90 degrees, etc.