Dog-friendly Brancaster

Five miles and about two and a half hours, out onto the heather and gorse of Barrow Common for the view over the whole harbour, then down through Brancaster village and back along the Norfolk Coast Path past the Roman fort at Branodunum. Start at the harbour car park at Brancaster Staithe by the boatyards, free but small and usually taken by boat crews by mid-morning; the alternative is roadside space on the A149 through the village. Barrow Common allows a well-behaved dog off lead, the coast path section crosses grazed marsh where leads are needed, and the tidal creeks at the Staithe fill fast and run deep even in summer.