Dog-Friendly Walks in Yorkshire: Waterfalls, Moorland & Coastal Trails

Yorkshire delivers walking that rivals anywhere in Britain. Two national parks offer contrasting landscapes within easy reach of each other. The Yorkshire Dales serve up limestone drama with waterfalls, gorges and dramatic cliffs. The North York Moors provide heather-clad expanses and ancient forest. Add 90 miles of coastline with clifftop paths and fishing village charm, and you have enough walking to last several lifetimes. Our complete guide to dog-friendly Yorkshire covers everything the region offers.

Dogs thrive here. The variety of terrain keeps noses busy and legs exercised. Riverside paths offer paddling opportunities. Moorland provides space to stretch out. Woodland trails deliver endless scent adventures. Even coastal walks combine beach access with dramatic clifftop views.

What sets Yorkshire apart is accessibility. Many of the finest walks start from attractive villages with dog-friendly pubs waiting at the finish. Car parks are generally well-maintained and reasonably priced. Paths are mostly clear and well-signed. And the walking community here understands dogs, with genuine welcomes rather than grudging tolerance.

Charlie, Buster, Ember, Simba, Max and Molly have covered countless Yorkshire miles over the years. We have our favourites, but we keep discovering new routes that surprise and delight. This guide shares the walks we return to again and again.

Yorkshire Dales Walks

The Dales offer Yorkshire's most iconic walking. Limestone creates landscapes unlike anywhere else in England.

Malham Cove and Gordale Scar

Distance: 7.5 miles circular | Difficulty: Moderate | Time: 4 to 5 hours

If you walk one route in Yorkshire, make it this one. The full circular from Malham village takes in three of Britain's most spectacular natural features: Janet's Foss waterfall, the dramatic limestone ravine of Gordale Scar, and the famous curved cliff of Malham Cove with its Harry Potter limestone pavement.

The route: Start from the National Park car park in Malham village (pay and display, postcode BD23 4DA). Head through the village and follow signs to Janet's Foss, a magical waterfall where dogs can paddle in the shallow pool at the base. Continue to Gordale Scar, where towering limestone cliffs create an otherworldly atmosphere. From here, climb to Malham Tarn (England's highest lake) before returning via the top of Malham Cove. The descent down the stone steps to the village completes the circuit.

Dog notes: Livestock present throughout the year. Keep dogs on leads near sheep. The climb up Gordale Scar involves some scrambling that may challenge less agile dogs. An alternative path skirts around. The limestone pavement at the top of Malham Cove requires care as gaps between stones could trap paws.

Refreshments: The Lister Arms and Victoria Inn in Malham both welcome dogs.

Aysgarth Falls

Distance: 2 to 8 miles (variable) | Difficulty: Easy to moderate | Time: 1 to 4 hours

Three spectacular waterfalls cascade along the River Ure at Aysgarth, made famous by the film Robin Hood: Prince of Thieves. The falls look particularly impressive after rainfall. Multiple route options allow you to tailor the walk to your group's abilities.

The route: Park at the Aysgarth Falls National Park Centre (pay and display, postcode DL8 3TH). Short routes visit just the Upper, Middle and Lower Falls on well-maintained paths. For a longer walk, continue to Castle Bolton and return via the high route with panoramic valley views. The James Herriot Way also passes through here if you want a longer adventure.

Dog notes: Easy paths suit dogs of all ages and abilities. Keep on lead near the falls where currents can be dangerous. Livestock present in surrounding fields.

Refreshments: The Coppice Cafe at the visitor centre welcomes dogs. The George and Dragon Inn in Aysgarth village is also dog-friendly.

Ingleton Waterfalls Trail

Distance: 4.5 miles circular | Difficulty: Moderate | Time: 2 to 4 hours

Possibly the most spectacular waterfall walk in Britain. This privately maintained trail follows two rivers through ancient woodland, passing waterfall after waterfall including Pecca Falls, Thornton Force and Beezley Falls.

The route: Start from Broadwood car park in Ingleton (postcode LA6 3ET). An entrance fee applies (around £8 adults) as the trail crosses private land. The route follows the River Twiss upstream, crosses between valleys, then returns down the River Doe. Well-maintained paths with steps throughout.

Dog notes: Dogs welcome and many complete this trail. Some sections have steep drops near water. Numerous steps may challenge older dogs. Keep on lead as paths can be narrow with other walkers. Dogs can paddle in calmer sections.

Refreshments: Several cafes in Ingleton at the walk's end. The Wheatsheaf Inn welcomes dogs.

Bolton Abbey and Strid Wood

Distance: 4 to 7 miles (variable) | Difficulty: Easy to moderate | Time: 2 to 4 hours

The Bolton Abbey Estate offers over 80 miles of footpaths across stunning Wharfedale scenery. Highlights include the medieval Priory ruins, ancient Strid Wood, and the infamous Strid where the River Wharfe forces through a narrow gap.

The route: Park at Cavendish Pavilion or Bolton Abbey car parks (estate charge of £12 to £15 applies). Multiple routes are possible. A popular circuit follows the riverside through Strid Wood to the Strid, crosses at Barden Bridge, and returns on the opposite bank. Add the Valley of Desolation detour for a hidden waterfall.

Dog notes: Dogs must be on lead in Strid Wood (Site of Special Scientific Interest). Dogs are not permitted on Barden Moor and Barden Fell. The Strid itself is extremely dangerous, with fast currents beneath a deceptively calm surface. Keep dogs well away from the water here.

Refreshments: Cavendish Pavilion has a cafe and the estate has several refreshment options. The Devonshire Arms nearby welcomes dogs.

Hardraw Force

Distance: 0.5 miles from pub | Difficulty: Easy | Time: 30 minutes

England's highest single-drop waterfall above ground plunges 30 metres into a natural amphitheatre. Access is through the Green Dragon pub, making this a perfect short walk combined with a pub visit.

The route: Park in Hardraw village (postcode DL8 3LZ) and enter through the Green Dragon pub. Pay a small entrance fee and follow the woodland path to the falls. You can walk behind the waterfall when conditions allow.

Dog notes: Dogs welcome on leads. The path is easy but can be slippery near the falls.

Refreshments: The Green Dragon pub is the start and finish point and welcomes dogs.

Muker to Thwaite Circular

Distance: 3 miles circular | Difficulty: Easy | Time: 1.5 to 2 hours

Upper Swaledale delivers classic Yorkshire Dales scenery: dry stone walls, traditional barns, wildflower meadows (stunning in May and June), and genuine tranquillity. This circular walk connects two of Swaledale's prettiest villages.

The route: Park in Muker (limited parking, postcode DL11 6QG). Walk to Thwaite via the lower riverside path, return on the higher route with valley views. Alternatively, extend by continuing to Keld for waterfalls.

Dog notes: Livestock present. Keep on lead around sheep. Stiles may challenge larger dogs.

Refreshments: The Farmers Arms in Muker welcomes dogs. Keld Lodge at nearby Keld also accepts dogs.

North York Moors Walks

The Moors offer different character: heather moorland, forest trails and proximity to the coast.

Goathland and Mallyan Spout

Distance: 3 miles circular | Difficulty: Moderate | Time: 1.5 to 2 hours

Goathland village (Heartbeat's Aidensfield, Harry Potter's Hogsmeade Station) makes a perfect base for moorland walks. The highlight is Mallyan Spout, a 21-metre waterfall hidden in a wooded ravine.

The route: Park in Goathland village (pay and display, postcode YO22 5AN). Head down to the Mallyan Spout Hotel and follow signs to the waterfall through atmospheric woodland. The full circuit continues along the valley bottom to Beck Hole (tiny pub worth visiting) before climbing back to Goathland.

Dog notes: Some steep sections and stream crossings. The path to the waterfall can be muddy after rain. Keep on lead on moorland (March to July) for ground-nesting birds.

Refreshments: Multiple options in Goathland. The Birch Hall Inn at Beck Hole is wonderfully traditional and dog-friendly.

Roseberry Topping

Distance: 3 miles circular | Difficulty: Moderate | Time: 1.5 to 2 hours

Yorkshire's mini-Matterhorn rises distinctively above the Cleveland Plain. The straightforward climb rewards with panoramic views across moors, coast and industrial Teesside.

The route: Park at Newton under Roseberry car park (free, postcode TS9 6QR) or Great Ayton (additional walk). The main path climbs steadily through Newton Wood (bluebells spectacular in late April and May) to the summit. Captain Cook's Monument sits nearby for those wanting to extend.

Dog notes: Clear paths suit fit dogs. Final summit section involves some scrambling on rocks. Keep on lead during nesting season on adjacent moorland.

Refreshments: Great Ayton has several dog-friendly options. The Royal Oak welcomes dogs.

Dalby Forest Trails

Distance: 1.5 to 5+ miles (multiple trails) | Difficulty: Easy to moderate | Time: 1 to 3+ hours

Over 3,000 hectares of Forestry England woodland provide 13 waymarked walking trails. Dogs can run freely here (under control) away from the moorland bird restrictions that apply elsewhere.

The route: Enter via Low Dalby visitor centre (parking charge, postcode YO18 7LT). Choose from trails including the easy Ellerburn Trail (1.7 miles alongside the beck), the Bridestones Trail (moderate, remarkable rock formations), or longer routes into the forest interior.

Dog notes: Dogs can be off-lead under control throughout the forest. Water available in streams and becks. The forest provides excellent walking during the March to July period when moorland has nesting bird restrictions.

Refreshments: Courtyard Cafe at the visitor centre welcomes dogs on the terrace.

Hole of Horcum

Distance: 4 to 7 miles (variable) | Difficulty: Moderate | Time: 2 to 4 hours

A spectacular natural amphitheatre (sometimes called the Devil's Punchbowl) carved into the Tabular Hills. Walking around the rim or descending into the valley provides dramatic moorland scenery.

The route: Park at Saltersgate car park on the A169 (free, postcode YO18 7NR). Walk the rim path for easier going, or descend into the valley and climb back out for more challenge. Levisham village on the far side makes a good turning point.

Dog notes: Open moorland with ground-nesting birds March to July. Keep dogs on lead during this period. Otherwise, dogs can be off-lead under control.

Refreshments: The Horseshoe Inn at Levisham welcomes dogs if you complete the full circuit.

Coastal Walks

The Yorkshire coast offers dramatic clifftop walking and beach access. Many of these routes connect with year-round dog-friendly beaches where your dog can cool off after the walk.

Whitby to Robin Hood's Bay

Distance: 6 miles one way | Difficulty: Moderate | Time: 3 to 4 hours

This classic section of the Cleveland Way delivers stunning coastal scenery with clifftop views, dramatic rock formations and the charm of Robin Hood's Bay at the finish. Bus connections allow one-way walking.

The route: Start from Whitby harbour and climb the 199 steps past the Abbey. Follow Cleveland Way signs along the clifftops, passing the lighthouse and Saltwick Bay (good fossil hunting). The path eventually descends into Robin Hood's Bay. Regular buses return to Whitby (dogs welcome on buses).

Dog notes: Clifftop walking requires leads near edges. Some steep sections. Can be exposed in wind. Dogs welcome year-round on Robin Hood's Bay beach.

Refreshments: Numerous options in both Whitby and Robin Hood's Bay. The Victoria Hotel in Robin Hood's Bay has a spacious beer garden welcoming dogs.

Robin Hood's Bay to Ravenscar (Cinder Track)

Distance: 4.5 miles one way (9 miles return) | Difficulty: Easy | Time: 2 to 3 hours one way

The Cinder Track follows the old Whitby to Scarborough railway line, providing gentle gradients and traffic-free walking with sea views. The surface suits all abilities including pushchairs and wheelchairs.

The route: Start from Robin Hood's Bay car park (top of village). Follow the Cinder Track south towards Ravenscar. The route passes through woodland with glimpses of the coast. Ravenscar's National Trust visitor centre makes a good turnaround point.

Dog notes: Easy walking suits dogs of all ages. Dogs can be off-lead on quieter sections but watch for cyclists. The track is shared use.

Refreshments: National Trust tearoom at Ravenscar welcomes dogs outside. Multiple options in Robin Hood's Bay.

Staithes to Port Mulgrave

Distance: 4 miles circular | Difficulty: Moderate | Time: 2 to 2.5 hours

Voted one of Britain's top dog walks, this route combines the atmospheric fishing village of Staithes with clifftop paths, tranquil lanes and the hidden harbour of Port Mulgrave.

The route: Park in Staithes car park (pay and display at top of village). Explore the village before climbing to the Cleveland Way. Follow the coast path south to Port Mulgrave, returning inland through fields and lanes.

Dog notes: Clifftop sections require leads. Some livestock in fields on the return. Staithes beach welcomes dogs year-round.

Refreshments: The Cod and Lobster in Staithes welcomes dogs. Several cafes in the village.

Runswick Bay to Sandsend

Distance: 5.5 miles one way | Difficulty: Moderate | Time: 3 hours

Linking two of Yorkshire's prettiest coastal villages, this clifftop walk delivers constant sea views and varied scenery before descending to Sandsend's sandy beach.

The route: Park at Runswick Bay (pay and display). Climb to the Cleveland Way and follow it south along the clifftops. The route eventually descends to Sandsend. Return by the same route or arrange transport.

Dog notes: Typical clifftop considerations apply. Both Runswick Bay and Sandsend beaches welcome dogs year-round (some seasonal restrictions at Sandsend in certain areas).

Refreshments: The Runswick Bay Hotel welcomes dogs. The Sandside Cafe in Sandsend has dog-friendly outdoor seating with excellent views.

Walks by Difficulty

Easy Walks (suitable for all dogs)

• Aysgarth Falls short circuit (2 miles)
• Hardraw Force (0.5 miles)
• Dalby Forest Ellerburn Trail (1.7 miles)
• Robin Hood's Bay Cinder Track (variable)
• Bolton Abbey riverside (variable)

Moderate Walks (fit dogs)

• Malham Cove and Gordale Scar (7.5 miles)
• Ingleton Waterfalls Trail (4.5 miles)
• Goathland and Mallyan Spout (3 miles)
• Whitby to Robin Hood's Bay (6 miles)
• Roseberry Topping (3 miles)

Challenging Walks (very fit dogs)

• Three Peaks (Pen-y-ghent, Whernside, Ingleborough)
• Cleveland Way multi-day sections
• Swaledale waterfalls extended routes
• Simon's Seat from Bolton Abbey

Seasonal Considerations

Spring (March to May)

• Ground-nesting bird season begins mid-March on moorland
• Keep dogs on leads on moors and fells
• Lambing season requires extra care around livestock
• Daffodils in Farndale (North York Moors) are spectacular
• Bluebells at Roseberry Topping and various woodlands

Summer (June to August)

• Longest days allow extended walking
• Heather blooms purple on moors in August
• Some beach restrictions apply (check local signs)
• Carry extra water for dogs
• Early morning or evening walking in hot weather

Autumn (September to November)

• Bird restrictions lift on moorland
• Autumn colours in woodland stunning
• Quieter paths after school holidays
• Wetter underfoot conditions begin
• Bolton Abbey particularly beautiful

Winter (December to February)

• Shortest days limit walking time
• Higher routes may be snow-covered
• Waterfalls impressive after rain
• Forest walks provide shelter
• Dog-friendly pubs especially welcoming

Safety and Etiquette

Livestock

Yorkshire is working farmland. Dogs must be controlled around livestock at all times. During lambing (typically March to May), particular care is required. Pregnant ewes can abort if chased, and farmers have legal rights to protect their livestock.

If cattle approach aggressively, release your dog and move away. Cattle will usually follow the dog rather than you. This is especially important with cattle with calves, which can be protective.

Always close gates behind you unless they are clearly propped open. Respect farmland even when crossing on public rights of way.

Ground-Nesting Birds

On moorland between 1st March and 31st July, keep dogs on short leads (less than 2 metres) to protect ground-nesting birds including curlew, lapwing, golden plover and red grouse. These species nest on the ground and are extremely vulnerable to disturbance. Even a dog passing nearby can cause parent birds to abandon nests.

Yorkshire's moorland supports nationally important populations of these declining species. Dog owners can make a real difference by respecting seasonal restrictions. Forestry areas like Dalby Forest provide excellent alternatives during this period.

Cliff Edges

The Yorkshire coast features dramatic cliffs, some over 200 metres high. Keep dogs on leads near edges, particularly in windy conditions. Erosion means edges can be unstable and may crumble without warning. Nesting seabirds on cliffs can also tempt dogs dangerously close to edges.

Water Safety

Yorkshire has many rivers and waterfalls. While dogs love paddling, some currents are dangerous. The Strid at Bolton Abbey looks calm but is extremely dangerous due to underwater currents and submerged ledges. Nobody who has fallen in has survived. Keep dogs well away from the water here.

Fast-flowing sections after rainfall can catch dogs out. Waterfalls may have dangerous undercurrents at their base. Stick to obviously calm, shallow paddling spots.

Weather

Yorkshire weather changes rapidly, especially on higher ground. Carry waterproofs even on sunny days. Mist can descend quickly on moorland, making navigation difficult. In winter, higher routes may be snow-covered or icy when valleys are clear.

Carry water for dogs on warm days. Heat exhaustion affects dogs quickly, especially those with thick coats. Plan walks for cooler parts of the day in summer.

Navigation

While main routes are well-signed, some paths are less obvious. Carry a map (OS Explorer maps are excellent) and know how to use it. Mobile phone signal is patchy in remote areas. Consider downloading offline maps before setting out.

Planning Your Walking Holiday

Choosing Your Base

Your base location determines which walks are easily accessible. Finding the right cottage near your preferred walking areas makes all the difference to your holiday.

Southern Dales (Skipton, Grassington, Malham): Best for Malham Cove, Bolton Abbey, Ingleton Waterfalls, Aysgarth Falls (bit further).

Northern Dales (Hawes, Reeth, Richmond): Best for Aysgarth Falls, Swaledale walks, Hardraw Force, remote moorland.

North York Moors (Helmsley, Pickering, Goathland): Best for Dalby Forest, Hole of Horcum, Goathland walks, access to coast.

Coast (Whitby, Robin Hood's Bay): Best for coastal walks, Cleveland Way sections, beach access.

Combining Walks

With careful planning, you can combine different landscapes in a single holiday:

• Morning walk at Malham, afternoon at Bolton Abbey
• Coastal walk from Whitby, followed by moorland at Goathland
• Forest walk at Dalby, then beach time at Robin Hood's Bay

Wet Weather Options

When rain arrives (and it will), woodland walks provide shelter:

• Dalby Forest (excellent all-weather walking)
• Strid Wood at Bolton Abbey
• Janet's Foss woodland approach to Malham
• The Cinder Track (surfaced path)

Alternatively, embrace the weather. Waterfalls look their most impressive after heavy rain, and you will have the paths to yourself.

Book Your Stay

Ready to explore Yorkshire's walks with your dog? Browse our accommodation options and start planning your walking adventure.

FAQs

Final Thoughts

Yorkshire rewards walkers with variety that few other regions can match. Within a single holiday, you might scramble up limestone cliffs at Gordale Scar, wander peacefully through Swaledale's flower meadows, follow waterfalls through ancient woodland at Ingleton, stride across heather moorland on the North York Moors, and finish with clifftop walking above dramatic coastal scenery.

Dogs share this enthusiasm. The combination of interesting terrain, water to splash in, wildlife scents and space to explore keeps tails wagging throughout. The welcoming pubs at the end of each walk simply confirm that Yorkshire understands dog owners.

Charlie, Buster, Ember, Simba, Max and Molly have their favourites. The Malham circuit for sheer drama. Dalby Forest when we want off-lead freedom. The Whitby to Robin Hood's Bay coastal path for sea views and fish and chips at the finish. But we keep exploring, and Yorkshire keeps delivering new discoveries.

Find your perfect Yorkshire base and start planning your walking adventures.

Happy trails.

Charlie, Buster, Ember, Simba, Max, Molly and Luke

Always check current conditions, respect seasonal restrictions, and keep dogs under control around livestock and wildlife.