Dog-friendly The Coast

A beloved cafe right at Hunmanby Gap, about four miles south of Filey along the sands, whose sign famously welcomes 'dogs with well behaved owners'. The classic finish to a long dog gallop down Filey Bay's quieter end.

A Skinner Street coffee shop known for home-cooked food and generous portions at sensible prices. Dog treats are kept on hand for diners with canine friends in tow.

A friendly bar tucked into Royal Crescent Court just off The Crescent, moments from the cliff gardens. There are usually dog biscuits at the bar for well-behaved pooches, which tells you everything about the welcome.

A cosy village bistro that welcomes one well-behaved dog per party, though space is tight so large dogs cannot be accommodated. Booking ahead is recommended, particularly in season.

A real-ale inn at the top of the village on Staithes Lane, named for the town's most famous apprentice. Its own site notes a couple of rooms are dog friendly for 'a break away with your four legged friend', but they are limited, so check before booking.

Right on Coble Landing by the beach, this relaxed bistro welcomes dogs inside or out on the balcony, with water bowls provided. Note it's a cash-only establishment, so come prepared after your beach walk.

A 7.5-mile circular of a little over three hours with 140 metres of climbing, dropping through the woods to Cayton Bay sands and then heading south on the Cleveland Way over Lebberston and Gristhorpe cliffs to the Gristhorpe Man tumulus, returning inland by field paths. Start from Cayton village, which has parking near the church and the 12 bus from Scarborough and Filey; the Killerby Cliff car park on the A165 saves you the first mile. Cayton Bay allows dogs all year and the sands are a superb swim, but the clifftop is unfenced and actively landslipping, the descent to the beach is steep and stepped, and the tide cuts the bay off under Osgodby Point.

Seven miles of heritage-coast clifftop between Whitby and Robin Hood's Bay, with bay and beach views for most of the way. It is the classic coastal leg of the Cleveland Way, dropping you into the huddled red roofs of Bay at the far end.

A five-mile loop from Cloughton Station along the Cleveland Way clifftops to Hayburn Wyke, a wooded valley hiding a rocky cove where a waterfall tumbles over giant boulders onto the beach. The return leg ambles back along the level track-bed of the old Scarborough to Whitby railway.

An easy 4.7-mile circular of about two hours, north on the Cinder Track from Burniston to Cloughton old station and its millennium milepost, out to Cloughton Rocks and the Wyke, then south along the clifftop to Crook Ness and back by field path. Park in Burniston village or at the Cinder Track access on Limestone Road; the 12 and 13 buses from Scarborough stop on the main road through the village. Level, well-surfaced and gentle enough for an elderly dog on the railway half, though the clifftop stretch is unfenced above a sheer drop and the fields inland are grazed by sheep.

A 6.7-mile circular of about three hours with only 140 metres of climbing, out to the flat rock scars of Cloughton Wyke, north along the clifftop past Roger Trod and Hundale Point to Hayburn Wyke, and back down the Cinder Track. Park at the Cinder Track car park by Cloughton old station, signed off the A171 in the village, where the 12 and 13 buses from Scarborough also stop. The clifftop path is famously muddy even in high summer and runs unfenced along a crumbling edge, but the old railway back is wide and gated for off-lead running, and the rock pools at Cloughton Wyke are a fine place for a dog to paddle at low water.

Ten mildly undulating miles shadowing the River Esk from Egton Bridge to the sea at Whitby, on good paths, old toll roads and field tracks. There is a steepish dip and climb over a disused railway line near the end, and the village train makes it an easy one-way walk.

A hotel built around muddy boots and sandy paws, where dogs are welcome throughout — including the Bareca bar-restaurant and even the Film Club cinema. Every dog gets a laundered vet bed and a toy to take home, plus free use of the self-service grooming room, for £15 per dog per night (maximum two per room).

A grand Esplanade landmark above the South Bay that takes its dog rules seriously — you'll need evidence of flea treatment within the past three months at check-in, plus a refundable £50 damage deposit. Dogs may join you on a lead in the bar and lounge, but not the restaurant or leisure facilities.

A five-star family park at Gristhorpe, between Scarborough and Filey, where 'dogs are very welcome' — no need to leave one of the family in kennels. There's an enclosed dog park where your dog can come off the lead, meet new friends and do its business, with waste bins provided.

Haven's flagship Yorkshire park just south of Filey takes up to two dogs in designated dog-friendly caravans, at no extra cost when you book direct. Dogs must be kept on a lead at all times on park, and on site the Lakehouse has a dog-friendly dining area while the Five Stones pub allows dogs on the lower terrace only.

A clifftop Victorian hotel at the top of the village with dedicated dog-friendly rooms in The Captain's Quarters, at £10 per dog per night. Dog bowls, a blanket and treats are laid out for your dog before you arrive, and the beach is a ten-minute amble down through the village.

A quiet family-run park at Fylingthorpe, a stroll across the fields from Robin Hood's Bay itself. Dogs are welcome on the condition they stay on a short lead and are never left unattended.

A 40%-scale replica of Captain Cook's Endeavour sailing from Whitby harbour, near the Magpie Café. The crew's own words: 'Sea dogs are welcome onboard FREE OF CHARGE' — though it's worth ringing ahead as sailings depend on weather and tide.

The Victorian funicular that has linked Scarborough's town centre to the South Bay beach since 1881 — and saves tired legs (and paws) the climb. All dogs are carried free of charge provided they're kept under control and on a lead; the operator reserves the right to refuse a dog behaving badly towards others.

A gentle family animal park on Scarborough Road with meerkats, wallabies, alpacas and aviaries in landscaped gardens. Pets are welcome at the park provided they are kept on a leash.

Steam across the moors between Whitby and Pickering with your dog beside you — there's a small charge for your pooch to travel, and you can hop off at halts like Newtondale for a leg-stretch on the way. Dogs are welcome on ordinary services but not on the dining trains, and Pickering station has a dog-friendly tea room waiting at the far end.

Scarborough's oriental-themed park with its lake, pagoda and famous naval warfare displays. The park's own site puts it nicely: 'Well behaved dogs, held on leads by their well behaved owners, are welcome to the Park', with plenty of litter bins for dog mess.

The pyramid-roofed aquarium at Scalby Mills, home to seals, penguins and sea turtles — but one to plan around if you're travelling with a dog. The operator states that assistance dogs are welcome but 'no other dogs or pets can be brought to the attraction'.