Dog-friendly walks in Malham

The classic Dales circuit: roughly five miles from Malham village via the wooded ravine to Janet's Foss waterfall, into the towering gorge of Gordale Scar, then over limestone pasture to the 80-metre curved cliff of Malham Cove. Dogs may go off lead in places but sheep graze almost the whole route, so close control or a lead is essential, and there are rocky steps and clints on the cove top. Start from the National Park car park; the village pubs welcome muddy paws afterwards.

A four-and-a-half-mile circuit of England's highest marl lake, two hours on estate tracks, a stretch of quiet moorland road and grass paths, with almost no climbing at 375 metres above the sea. Park at the National Trust car park at Water Sinks on the Malham to Arncliffe road; Malham village and its toilets and tea rooms are three miles south. The Trust asks for dogs on leads and bars them entirely from the boardwalk through the National Nature Reserve at the east end, so plan to walk the road section instead; sheep and cattle graze the upland farm land, and the tarn shore gives easy shallow access for a drink.