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The village was once a centre for lead smelting, and the mill site here is worth a visit. It's just off the Leyburn road, and brown-signed from opposite the pub.
What's not to like about an 18th century dog-friendly inn with a pile of freshly laundered dog towels in the hall for muddy dogs? And the walk here is almost guaranteed to end up with a soggie doggie.
Junction 48
Dogs will enjoy the mix of fields and river path on this very rural footpath.
One of the more intimate homes of the gentry, now open to all and with pretty gardens to roam around and deck-chairs for an afternoon snooze.
Popular local walk with a cracking view from the top. No matter how many times you clamber up the hill, the walk will always feel different.
Once a busy coaching stop, the three large inns in this small village must have been a hub for news, gossip and the latest fashions from London in the 1700s.
On the River Ure, this dog-friendly pub and walkies field is a good place to stop in the Yorkshire Dales National Park. According to the landlord, the pub used to be almost hidden in a dense forest.
Scenic 1.5 mile walk around a reservoir through partial woodland, 2 miles off the A19
For a sense of the 'real' Yorkshire Dales this remote section of the Dales Way feels like a time capsule. Get your timing right, and a fine lunch and a welcome from the pub dog could be yours.
Junction 52
This market town used to be of massive strategic importance and the Norman castle looms over Swaledale quite ominously on a grey day.
Nicely refurbished village pub. Dog friendly in the bar area, and it's smart and comfortable. Good outdoor seating area as well. Worth making a detour for.
A winning combo of dog-friendly pub with great food, and an off-lead dog walk with no stiles or livestock and a reasonable chance of keeping your feet clean.
We quite often stop here on the way to Kirkby Lonsdale and fill our lungs up with fine Yorkshire air, and enjoy the feel of a very traditional and unspoiled village.
Enormous sandy beach, with no dog restrictions. Brilliant!
Very much in the middle of nowhere, apart from the farm, and it's a very tranquil place to walk with the dog through woodland on a section of the Tabular Hills walk.
Excellent dog walking spot with no sheep, which is such a blessing on the moors.
Busy small market town on the edge of the moors and with a somewhat quaint feel and atmosphere.
The beach is open all year round but has no facilities. There is a small car park from which you have to walk across some uneven ground through a tunnel where you are greeted by a long open beach
Jem and I arrived wet, and a tiny bit grumpy truth to tell, and were totally won over by the lovely warm atmosphere and excellent sarnies here.
Quirky little country pub with interestingly re-purposed objects. Very dog-friendly and the food gets rave reviews.
One of the most celebrated views in, and over, Yorkshire - definitely worth the uphill haul to get there on a clear day.
Two options for dog walks here, and it's a really quiet and peaceful space. You're highly unlikely to see anyone else.
Dog heaven for walkies here in the forest. And it's ideal for a long day out walk if you're staying near Scarborough and the dog just needs some green space.
Lovely flat beach with hard sand, dogs permitted north of the town. Park on Marine Parade. The town is incredible with the 'full Victorian' resort style buildings and railway station.
Such a quiet and relaxing spot for a moment of calm with the dog. On a hot day the cool air and gently running stream is a welcome break from the heat.
Allow yourself time to enjoy a visit to this extraordinary 13th century pub, and the waterfall next door. Absolute time travel and everywhere is dog-friendly.
A generous family allow walkers to enjoy their private park, and it's just great for a refreshing dog walk. The Hall has featured in All Creatures Great and Small.
The first thing to notice about this village is the enormous village green. And then, lurking beyond the green are the ruins of an old castle. And the resident dogs - lots of them!
The village at the start of this walk will be familiar to some as Aidensfield - home of TVs Heartbeat series, as well as the location for Hogsmeade station in the Harry Potter movie, the Philosopher's...
Good choice here of a recreation ground for kids, and a dog walk on a bridleway to the side of the rec. The dog-friendly country inn has loads more space than you'd guess from the outside.
Famous for the large black dog that transformed into Count Dracula, this spooky ruin will get your visit off to a bitingly good start.
A pretty and traditional Yorkshire village, dominated by an enormous church. Footpaths cross-cross the village, and dogs get a lovely welcome.
It's worth taking a break in this pretty village, or you'll miss everything by driving by.
Historic Yorkshire town with lots to see. And a small, cosy pub where dogs and walkers are welcome.
Family and dog fun here, with the ruins of the biggest castle in the North and you might even spot a really famous racehorse from one of the racing stables. The town is horse obsessed.
An easy-going walk with the dog through an outstanding 18th century park. This is treating the dog to high-end garden design on a grand scale.
An easy stroll around Malham Tarn - ideal for a laid back start to the day. Worth taking an extra layer as it can get nippy even on bright days.
A pleasant and accessible dog walk, with far-reaching views and a relaxed feel.
Dogs are welcome on most of the beach here all year round.
An eighteenth century coaching inn near the sea, and lots of walking to keep dogs happy. It's a great day out from Scarborough and the pub is very welcoming and friendly
Amidst the historic buildings - not only the abbey but also a Jacobean Hall built with some of the abbey's stones - there are some charming dog walks around the lake and parkland.
An ideal place for a driving break, with a great walk for the dog and also an adventure playground for kids and a cafe with WCs.
You would never know that this forest land had been created over the remains of a disused railway line and coal mine, and it's now a popular leisure spot for dogs and walkers.
Near purpose-made stop for dog-friendly refreshments and a walk. The pub has plenty of parking, and safe on-lane parking is available nearby too. The village is quiet and rural.
A massive forest to explore, with footpaths running in every direction. Total doggy bliss!
Dogs are welcome at his village freehouse with some rather good local beer, and a walk on an unscary part of the Pennine Way.
The dog walks in this small village in Wensleydale start from the pub where James Herriott spent his honeymoon in 1941. That's so romantic!
A chance to step out with the dog and enjoy a glorious part of Yorkshire. The dog-friendly pub was made famous as the original 'Woolpack' in Emmerdale.
When the tide is out this is a perfect way to enjoy a walk with the dog to the immensely popular village of Robin Hood's Bay.
This is a wonderfully busy little market town, with a number of cafes as well as dog-friendly pubs and a thriving atmosphere. I'd not heard of it before, but what a great place for a weekend away.
No restrictions for dogs on this big, long beach.
Falling Foss is a delightful waterfall, accessed through woodland on either side of Littlebeck and Maybeck.
An easy route around a reservoir is always a relaxing option if you've been stuck in the car for ages.
Easy-going dog walk around the reservoir, with views over to the moors beyond. Accessible path.
In an area a bit crowded with ruined abbeys, this one is wilder and far less curated than its more famous neighbours. You'll find seats in picturesque nooks, and a very tranquil atmosphere.
This is a really old place indeed, and was originally a resting place for monks from the nearby Jervaulx Abbey.
A wonderful opportunity for both you and the dog to enjoy some floral scents, walk in the attractive gardens and relax with a cup of tea and cake afterwards.
An easy access walk that's great for dogs and easy to find.
This is one for the rail enthusiasts, as well as the dog. It's a good long walk for pretty much as long as you can manage. And the pub has some interesting old photographs of steaming trains.
The start point for the dog walks is a handsome, if severe looking, Dales market town with an unusually large green.
Dog-friendly old coaching inn, and a fine traditional market town with easy access to dog walks. Well worth planning a stop here when you're driving on the A65.
Walk through the door of this little inn in Swaledale and you will receive a warm friendly welcome. It's a traditional Yorkshire Dales pub, serving good homemade food and well-kept local ales.
Beautiful wide beach with lots of rock pools at low tide - no dog restrictions. Refreshments available in the summer and at weekends out of season. Lifeguards.
Absolutely the best view in town, and a definite 'must-see'.
Just off Gargrave Road there is free parking for around 8 cars. Directly in front of you is Aireville Park where dogs can run around off lead.
A wonderful spot on a hot day for dogs and kids to swim in the river, and the walk is good at any time of the year.
The dog walk starts near what seems to be a Rapunzel tower. Kids of all ages can climb up the narrow stairs and get a lovely view of the river.
About half way between Scarborough and Whitby. Take refreshments and dog water with you - there are no facilities.
Dog-friendly 17th century coaching inn in the heart of the stunning Yorkshire Dales National Park, near the spectacular Aysgarth falls and dog walks.
Tiny sandy beach, tucked away amongst the fishing boats. The Cleveland Way goes through here, and a very nice coast path it is too. No dog restrictions.
One of the most dog-friendly towns we've seen, with dogs welcome in the inns and many of the shops too.
Enormous sandy beach with no dog restrictions. You just can't believe the space and freedom here. These pics were taken in July and the other dog walker was out of range.
A rocky Yorkshire landmark with trails and visitor facilities.
A thriving little town with a number of dog-friendly places for refreshment, and a charity shop for greyhounds with doggie ice-cream and cuddles!
Malham is famous for walks to the Cove, Tarn and elsewhere and this short walk is suitable for wheelchairs, buggies and those who prefer to listen to the sounds of the brook and wind brushing through...
It may be difficult to tear some people away from the station - it's a lovingly restored example of a North Eastern Railway station from around 1912, and well worth some admiration for the effort...
Dogs are welcome here and it's a large and roomy building where families, locals and dog-walkers rub along together well.
The only market town in the North Yorkshire national park, and you'll find a number of dog-friendly places for refreshments as well as several excellent walks and a castle.
Dog-friendly hotel and estate grounds on the edge of the Yorkshire Dales. The long distance Dales Way path passes by, and the river is a favourite swimming spot for many hot dogs.
An ideal no-fuss stopping point and short walk from a parking pull-in high on the moors. Down below is the honeypot village of Goathland, but up here it's all fresh air.
Yorkshire might have more stunning ruins than any other county, and this is way up there in the ruin league. And dog-friendly.
A handy dog-friendly inn with a short dog walk and very easy access from the main road as well as dog-friendly B&B rooms. Long opening hours make this a reliable pitstop for families.
Wow - this dog walk starts from a picture-perfect rose bedecked village with the village shop and tearoom at its heart. A winning spot for playing "if we lived here ..."
This is a dog walking extravaganza that's much more than a doggiestop. Absolutely worth spending the whole day here (you won't get value for parking otherwise).
Small country inn within very easy reach of the A170 and a delightful dog walk from the door.
Within walking distance of the famous falls, you'll find a warm welcome and good eating at this former coaching inn.
Unbelievable little town, very close to the A64 and it's like a time warp back to the 1950s (or thereabouts). The dog-friendly hotel is a massive building with a big car park, and next to the river.
A beach where nature is flourishing, and the rock pools are teeming with life. No dog restrictions. Not easy underfoot but the wildflowers and natural world down on the beach are fabulous.
If you're looking for an iconic view of the North Yorks moors and an easy to follow dog walk, this is it. Be sure to come only on a clear day to get the best of the panorama.
This is a lovely tiny village where it's easy to get onto the Pennine Bridleway for a satisfying yomp with the dog. Expect waterfalls and chatty locals.
The dog-friendly tea rooms here appears almost like a mirage if you're walking across the fells on a misty day. And it's an ideal stopping point if you're travelling cross country. They also do B&B.
If you're driving north from Harrogate don't miss out on the chance to look at this absolutely unique village.
Moorhouse Lane
The White Horse is the highlight of this walk, and you can see its chunky features from the car park and for miles around.
An eighteenth century toll bridge, still carrying traffic after all these years. The wooden slats make a racket only if you're driving too fast!
Long-established 18th century coaching inn that's been dispensing beer and cheer since 1742. Dogs get a good welcome, and there's walking country all around.
A dead straight dog walking avenue, and not a lot else. It's a great place for all dogs, and easy for unsociable dogs to manage as they probably won't get much company.
Grassington has long been the honeypot for tourism in this part of the Yorkshire Dales, and dog-friendly pubs, shops and tea-rooms abound. Best visited out of season!
A warm and dog-welcoming country inn with a blazing fire in cold weather, and a real haven from a biting Yorkshire wind.
For a driving break, parking is fairly easy (except Saturday market day), dog-friendly hotel supplies refreshments through the day, and the dog walk is a nice easy one with proper hard-surface paths...
When a driver needs a long dog walk with massive views and no company, head for this section of the Pennine Way and let your spirits soar!
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