Dog-friendly The North York Moors

A tiny, lovingly preserved timewarp pub in a steep wooded cleft below Goathland: two age-old bars with a sweet shop wedged between them and a terraced garden above the beck. Dogs are welcome, and the landlady is known to make a fuss of them. Food is gloriously simple - local pork pies, butties, scones and the famous Beck Hole Beer Cake.

A small tap room and micro-pub in the middle of Stokesley, all cask and craft and no fruit machines. Well behaved dogs are welcomed indoors as well as in the beer garden, and the owners say so in as many words on their own FAQ.

A woodland tea garden beside the Falling Foss waterfall in Sneaton Forest, a few miles inland from Whitby, where dogs 'are more than welcome to join you'. The perfect finish to the May Beck circular with a muddy dog in tow.

A creeper-covered hotel on Goathland's green, right at the head of the path down to the Mallyan Spout waterfall. The Spout Bar and the gardens are properly dog friendly and serve pub food all day, so you can eat with the dog rather than around it.

A village pub and kitchen on Town Street in Old Malton, just off the A64 and a short walk from the priory church. The pub states it is dog friendly, which makes it a sensible lunch stop on the way up to the moors.

A handsome inn facing the west front of Byland Abbey, with the ruins filling the windows. The pub side is openly dog and child friendly, so you can bring the dog in after a wander round the abbey lawns; the bedrooms are the one place they cannot go.

A working farm shop between Nawton and Helmsley with a butchery, deli and a two-floor bistro in the old fold yard. There is a dedicated dog friendly seating area in the covered yard, so the dog can come along while you eat.

An award-winning farm shop and cafe on the edge of Pickering with a miniature railway and its own pick-your-own fields. Dogs are not permitted inside the cafe but are welcome on the outdoor terrace and lawn, where water bowls are plentiful, and there is a secure hireable dog field beside the cafe so your dog can tear about while you have a takeaway coffee at the picnic tables.

A tea garden on a working hill farm at the very head of Rosedale, reached up the dale road from Rosedale Abbey, with homemade cakes, loose-leaf teas and sausage rolls served against a sweeping valley panorama. Well-behaved dogs are more than welcome in the garden. Arguably the most peaceful cuppa in the National Park, and handy for the ironstone railway trackbed above.

A small family-run tea room in steam-railway Grosmont, famous for its fresh scones, light lunches and the house-invented Grosmont Tart. Dogs are welcomed both inside and out - you and your dog are assured a warm reception in the conservatory overlooking the garden, or on the terraced garden itself on fine days. Open daily from Easter to October, perfectly timed for the Rail Trail from Goathland.

A deli-cafe on the Market Place in Yorkshire's self-styled food capital, serving proper coffee, generous sandwiches and cakes from the county's best producers. Dogs are genuinely welcome inside, and the team have been known to slip well-mannered visitors a treat from the deli counter. A civilised refuel after a browse round Talbot Yard's food makers.

A serious modern restaurant with rooms in Hovingham, cooking almost entirely from its own kitchen garden and the surrounding estates. Dogs join their owners in the bar and snug, where water and a dog bed are provided, and the Sycamore Room takes them overnight.

A relaxed 4.4-mile loop with only 70 metres of ascent, under two hours, on lanes, field paths and the wooded valley below the abbey where the old monastic fish ponds sit; easy going but muddy along the pond path after rain. Start in Ampleforth village, where there is roadside parking, and the abbey's own visitor car park is available when the tea room is open. The ponds and the beck give water and the field paths take a dog off the lead for good stretches, but the abbey and college grounds are private and working farmland here holds sheep, so lead up at every gate.

A short 3.5-mile riverside round with only 140 metres of climbing, comfortably done in an hour and three quarters, following an ancient paved packhorse trod through East Arnecliff Wood that is greasy underfoot after rain. Start at the seventeenth-century Beggar's Bridge by Glaisdale station, which is on the Esk Valley line from Whitby to Middlesbrough, so the whole walk can be done without a car. The Esk runs alongside for most of it with easy shingle access for a drink or a swim, dogs can be off the lead in the wood, and the only lead sections are the short stretches of lane at Egton Bridge and the return into Glaisdale.

A serious 10.3-mile day with 400 metres of ascent, close to five hours, climbing on to Scarth Wood Moor and then following the old Hambleton Drove Road south over the shoulder of Black Hambleton; broad stony tracks for most of it, with wet peat between. Start from Osmotherley village green, where there is a small pay-and-display car park and buses from Northallerton. Cod Beck and the reservoir give water in the first mile but there is almost none after that, sheep range the whole of the drove road, and leads are required on the open moor from 1 March to 31 July for ground-nesting birds.

A short, steady climb from the free Gribdale Gate car park up through larch woods to the 60-foot obelisk of 1827 on Easby Moor, raised to the explorer who grew up in Great Ayton below. Views sweep to Roseberry Topping and across the Cleveland plain, and a longer circuit links both summits via the Cleveland Way. Popular with dog walkers, but livestock graze along the trail, so leads on at times.

Six and a half miles with 260 metres of ascent, about three hours, climbing out of the dale on to the eastern moor edge for the long view down Farndale before dropping back to the hamlet; rough underfoot and wet in the gutters between the heather. Start at Church Houses in Farndale East, where there is a small car park by the Feversham Arms and an honesty-box overflow field in daffodil season, when the lane in is very busy. The River Dove gives shallow water at the bottom, but this is sheep country all the way up and leads are required on the open moor from 1 March to 31 July for ground-nesting birds.

A tidy 4.7-mile loop with a gentle 90 metres of ascent, two hours at most, on field edges and plantation tracks north of the town, with one or two gates and a stretch that churns up in winter. Start from the market place in Kirkbymoorside, which has free parking off Crown Square and is on the Moorsbus and the York to Helmsley bus route. The plantations are quiet enough for a decent off-lead run and there is a beck near Cockshot for a drink, but the intervening fields hold sheep and cattle, so lead up at every gate.

A small farm site above Cropton village with pitches, hook-ups and views over Rosedale. Pets are very welcome and there is ample ground for walking and exercise straight from the field.

Timber lodges on a working farm south-west of Pickering, well placed for Dalby Forest and the steam railway. Dogs are accepted in all of the lodges, so there is no scrambling for the one pet-friendly unit.

A family-run touring park and holiday home site on the Malton road out of Pickering. It is a dog friendly site with no extra charge for dogs, and pitches are allocated with the dog in mind if you say so when you book.

Farm cottages and glamping on the ridge above Sinnington, between Kirkbymoorside and Pickering. The owners describe the place plainly as great for dogs and safe for children, and the field paths down into the Seven valley start close by.

A sheltered valley holiday park just above Osmotherley village, with touring pitches, camping and hire caravans a short walk from both the pubs and Cod Beck Reservoir. On-lead dogs are welcome across the park (maximum two in the pet-friendly hire caravans), with a dog wash provided, though dogs are not allowed inside the park buildings. The Cleveland Way passes virtually along the site boundary.

A country house hotel and spa a step off Helmsley market place, with a heated outdoor pool and gardens. A set number of bedrooms take dogs by prior arrangement, and extra towels for wet paws are available from reception.

A working Benedictine abbey in a wooded valley below the moors, with orchards, a cider press and extensive grounds open to visitors. Dogs may explore the grounds freely, and you can order refreshments from the takeaway hatch at the gift shop while they wait outside.

The huge broken rose window and green-glazed tile floors of a Cistercian abbey below the Hambleton Hills. Entry is free and the site is listed by English Heritage as dog friendly, with the Abbey Inn opposite for a pint afterwards.

The great baroque house and its lakes, temples and woodland walks in the Howardian Hills north of Malton. The gardens are dog friendly, water bowls are put out at the cafes, and well behaved dogs may come inside the Coffee Shop, Farm Shop, Fitzroy, Boathouse and Courtyard cafes.

The gaunt split keep and deep earthworks of a twelfth-century castle, right at the edge of Helmsley market place. English Heritage lists it among its dog-friendly properties, so a lead-length tour of the ramparts is easily fitted around a walk on the Cleveland Way.

A restored five-acre Georgian walled garden beneath Helmsley Castle, run as a horticultural charity, with orchards, hot borders and glasshouses. Well-behaved dogs on leads are welcome throughout, including the shop and plant centre, and dog biscuits and water are laid on - the Vine House cafe within the garden is dog friendly too. A gentle, sheltered hour that slots neatly into any Helmsley day.

England's best preserved Carthusian monastery, set in woodland under the Cleveland escarpment near Osmotherley. Dogs on a short lead are welcome in every outdoor space, including the reconstructed monk's cell garden and the Arts and Crafts grounds.