7 Superb Dog Walks in Yorkshire: Explore the Moors

Happy dog exploring scenic Yorkshire countryside on a beautiful dog walk with owner

Look no further than this majestic county for an adventure with your pooch. These dog walks in Yorkshire include paths through the countryside, along former canal towpaths, on deserted beaches or on breathtaking moorland.

Yorkshire has plenty of choices for those who want to don their walking boots and enjoy beautiful landscapes with their canine friend by their side.

From city centre walks around the beautiful city of York to a wander along the River Aire in Baildon or the UNESCO World Heritage town of Saltaire, Yorkshire offers plenty of dog friendly walking trails with your pooch before retiring for the evening ready to plan routes for the next day.

There’s the added bonus of some traditional Yorkshire pubs that welcome dogs along many of the routes, as well

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With cities such as Leeds, Sheffield and Huddersfield to explore, city-lovers can start close to modern comforts such as coffee shops, bars and supermarkets and enjoy a circular walk.

For those who love to escape to the great outdoors and a scenic walk with their four-legged friend, Old Bilton near Knaresborough is perfect for a paddle in the River Nidd, pretty villages and authentic country inns.

14 Places To Walk Dogs in Yorkshire for Off Lead Adventures

Here are our top seven dog friendly walks and routes in Yorkshire. Remember, all of these places to walk dogs in Yorkshire are just a start, there are plenty to choose from, no matter where you are in Yorkshire.

1. A Dip in the Nidd: Riverside Walks and Picturesque Pubs

The six mile walk from Conyngham Hall near to Mother Shipton’s Cave to the village of Bilton, near Knaresborough offers the chance to dip those paws and toes in the River Nidd before popping into the pub at The Gardeners Arms in Bilton where the welcoming beer garden is an excellent spot for canine pals.

Knaresborough is a pretty town with locally-run shops and excellent cafés for cake and good tea if you’ve worked up an appetite for more than a pint.

2. A Highwayman’s Route: Historic York

Follow the route that the famous highwayman Dick Turpin is said to have taken around York with his dog, Little Nell. At just 2.5 miles in length, it is the perfect stroll for smaller doggy legs.

Dick Turpin’s Dog Walk starts at the historic Clifford’s Tower and heads along the fabulously named along Whip Ma Whop Ma Gate street before going past his local watering hole, The Last Drop Inn. The walk takes in sights such as York Minster and the Tower Gardens.

3. Smugglers’ Coves: Coastal Adventures and Charming Villages

Steeped in smuggling history, the quaint fishing village of Robin Hood’s Bay on the North Yorkshire coast has a 6.5 mile dog-friendly walk which takes in the beach, the cliffs and a wide coastal path where you can breathe in the fresh sea air and enjoy the views out to the North Sea.

It is known for its dog-friendly cafés and pubs along the walk – you’ll struggle to find somewhere along the route that doesn’t welcome your canine pal. Check out some other stunning dog beaches that welcome your furry friends just as much as humans or head into the Moors, where dogs are welcome along the public footpath and you can enjoy longer walking routes through the woods and countryside.

You can also uncover the delights of Whitby’s coastal paths with your pup if you want to stay near the seaside. A truly beautiful place, it features on our pawsome dog friendly Yorkshire guide for pet lovers.

4. Marsden Moor’s Nature Trails and Stunning Views

Marsden Moor near Huddersfield is great for a stomp around moorland, let your dog roam free with wide open space and enjoy a nature trail walk in the Peak District. The Wessenden Valley Circular Route is a 6.5 mile route along the moor and boasts fabulous 360 degree views for pretty much all of the walk, mini waterfalls and six reservoirs to see.

Stop off for a break at The New Inn pub in Marsden for a refreshing drink for both you and your canine friend.

5. Famous for Cheese: Wensleydale Walks and a Visit to Hardraw

One of the great dog walks in North Yorkshire is the walk from the town of Hawes to Hardraw. Wander from the historic market town of Hawes to Hardrow Falls and on to the village of Hardraw for a drink and good grub in The Green Dragon, the fantastic 13th century pub in the village which welcomes pooches but please keep all dogs on leads.

There is no car park nearby but you can park in the village and walk from there with your pup.

6. Flat, Woodland Route with Views: Rivelin Valley Park’s Serene Paths

Providing a great day out with your four legged friend, Rivelin Valley Park located between Sheffield and the Peak District is an excellent, predominantly flat walk which takes in both the woods, stream and river routes.

Dogs don’t have to stay on the lead and there are plenty of places for them to run around to their delight. Start from the paddling pools at Rivelin Valley where you’ll also find a café and free parking. The gentle walking routes at this serene spot are well signposted.

7. A City to City Canal Walk: Leeds and Liverpool

The Leeds and Liverpool Canal has a full stretch of canal towpaths which offer plenty of good places for dog walks. Leeds city centre, leafy Apperley Bridge, historic Saltaire or the Five-Rise Locks in Bingley are just some of the popular choices for a walk but its advised to keep your dog on a lead, and the added bonus is that there is normally a pub or tea shop to pop into without taking too much of a detour.

It’s one of the busier dog walks in West Yorkshire, so be prepared to meet plenty of other dog walkers!

14 Places To Walk Dogs in Yorkshire for Off Lead Adventures

Scenic Adventures with your pup. Yorkshire is a treasure trove for dog lovers seeking picturesque walking trails with their four-legged companions.

With our seven new additions, you’ll find diverse paths and landscapes to explore, from peaceful woodlands, quiet lanes, open fields to coastal paths and stunning dog friendly Yorkshire parks with livestock and birds, as well as historical sites.

8. Rivelin Valley Nature Trail: Riverside and Woodland Wonders

Nestled between Sheffield and the Peak District, Rivelin Valley Nature Trail offers an enchanting 3.5-mile walk through beautiful woodlands alongside the Rivelin River. Marvel at the historic water wheels and picturesque waterfalls as you stroll through this serene landscape. Remember to visit the Rivelin Café for a refreshing break.

9. Roundhay Park: A Lakeside Stroll in a Victorian Park

People walking along the footpath of Roundhay Park in between trees

Located in Leeds, Roundhay Park is a popular 700-acre Victorian park with multiple dog-friendly walking trails around its stunning lakes, streams, woodlands, and gardens. Choose from the various routes in the woods providing outstanding scenery, such as the 1.5-mile walk around Waterloo Lake, and enjoy the natural beauty with your furry friend on or off their lead.

10. Aysgarth Falls: Picturesque Cascading Waterfalls

Aysgarth Falls in the heart of the Yorkshire Dales

Explore the scenic beauty of Aysgarth Falls in the National Parks, featuring a series of spectacular cascading waterfalls along the River Ure. The 3.5-mile walk takes you through ancient woodland and riverside paths and offers stunning views of the falls.

There are lots of cafes nearby for food, such as the Aysgarth Falls Hotel, where you can relax after your walk and enjoy some lunch.

11. Menagerie Wood: A Magical Forest Adventure

Woods with the sun shining on the path covered in leaves

Discover the enchanting Menagerie Wood near Pateley Bridge (39 miles) with your dogs, a hidden gem in the Nidderdale Area of Outstanding Natural Beauty. This 4-mile circular walk takes you through a magical woodland filled with intriguing sculptures, wildlife, and the remains of an 18th-century menagerie.

The woodland paths and gentle inclines make this walk suitable for dogs of all sizes and abilities.

12. Robin Hood’s Bay to Scarborough: Coastal Beauty and Stunning Views

Robin Hood’s Bay coastline with properties and fields in the distance

Embark on a breathtaking 15-mile coastal walk from the charming village to the bustling town of Scarborough. This part of the Cleveland Way National Trail offers spectacular cliff-top views, secluded coves, and the opportunity to explore Ravenscar’s fascinating history.

There are numerous dog-friendly spots in both for a well-deserved break. Experience Scarborough’s picturesque dog-friendly paths with our vast selection of routes on this page.

13. Ilkley Moor and Cow and Calf Rocks

Cow and Calf Rocks on Ilkley Moor

Take your dog a 4-mile walk across the iconic Ilkley Moor and up to the impressive Cow and Calf Rocks near Ilkley. This walk offers panoramic views over the surrounding countryside, fascinating rock formations, and a chance to explore the historic Swastika Stone.

After your adventure, head to the Cow and Calf pub, where you and your dog can enjoy a well-earned refreshment.

14. Oakwell Hall Country Park: History and Nature Combined

A view from Oakwell Hall Country Park looking towards fields

Located in Birstall, Oakwell Hall Country Park is a 110-acre park featuring a variety of scenic walking trails, woodlands, trees, grass meadows, and a historic 16th-century manor house. 

With several dog-friendly routes, you can enjoy a stroll or a more challenging hike in this picturesque setting. The Oakwell Hall Café is a perfect spot to refuel before heading home.

Last Word

With dog walks in the Yorkshire Dales, South Yorkshire, East Yorkshire and the Moors national park, this really is a dog walker’s paradise. Also, with plenty of dog friendly days out in Yorkshire, it’s easy to see why so many people head here and enjoy dog walks in Yorkshire. You can enjoy one of the many walks through the Dales and Moors, which your canine is sure to love due to the rocky trails and muddy paths.

Be warned, you may come across animals such as sheep, lambs, cows and bulls while hiking through the valleys, hills and mountains. There are also other brilliant spots such as Runswick Bay, Cleveland way national trail and trails through West Yorkshire.

You can also stroll through castle grounds, landscaped gardens, Yorkshire sculpture park and maybe even a nature reserve. For a longer walk, the coastline is a wonderful place to start and you can enjoy fossil hunting with the kids before stopping for a drink.

If you’d like to book pet-friendly holiday cottages in North Yorkshire, then check out our wide range of accommodation on this page close to many of the dog walks in and around the North Moors. There are also plenty of pub walks in the villages.

Recently added is our list of handpicked dog friendly lodges in Yorkshire as well as this selection of North Yorkshire dog friendly hot tub cottage holidays to book.



John Devlin

An online publisher for over nine years, working specifically in the travel and dog industries. When I am not writing about pet travels and places to visit, I enjoy walking with my 2 Golden Retrievers, fishing and family time.

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