Few places in the UK capture the raw, open beauty of the outdoors quite like the Yorkshire Dales. With its limestone valleys, rolling moorlands and endless trails, it’s the kind of landscape that invites adventure, it’s also packed full of dog friendly walks and hikes to enjoy. From waterfall-strewn gorges to sweeping ridge paths, the Dales offer a mix of routes that suit every fitness level and every four-legged explorer.
Author’s Experience: As a proud Lancashire resident, I’m not afraid to admit that the allure of the Yorkshire Dales is more than enough to tempt me across the M62 multiple times per year, whether it’s to hike the stunning Malham Cove or attempt the Three Peaks Challenge (I’ve done it twice now). The Yorkshire Dales is one of the most beautiful areas of the country and it’s the perfect destination for adventures with your dog.
Here are ten of the best dog friendly walks in the Yorkshire Dales, handpicked for their scenery, accessibility and that unmistakable Dales character.
1. Malham Cove, Gordale Scar & Janet’s Foss (Malham)
This is perhaps the most iconic walk in the Yorkshire Dales, and it packs in a huge amount of scenery for its length. Starting from the charming village of Malham, the route passes the enchanting Janet’s Foss waterfall before leading into the towering limestone gorge of Gordale Scar, one of the most dramatic sights in the Dales. From there, you can climb up to the top of Malham Cove for panoramic views across the valley (the Harry Potter fans amongst us might recognise this sight from the top). Dogs will love the variety here, but be very cautious on the rocky sections and keep them on leads near cliff edges.
Trail details: Moderate | 4.5 miles circular
Highlights: Waterfalls, limestone cliffs, iconic views.
Best for: Energetic, adventurous dogs who love varied terrain.
2. Aysgarth Falls (Wensleydale)
Aysgarth Falls offers one of the most accessible and dog-friendly walks in the Dales, famous for its triple-tiered waterfalls on the River Ure. The well-maintained paths wind through mature woodland, with several viewing points that make great rest spots. There’s plenty of shade and shallow areas where dogs can paddle safely. You’ll also find a café and visitor centre nearby for post-walk refreshments. Short, scenic and suitable for all abilities, this is a perfect gentle adventure for dogs that enjoy water.
Trail details: Easy | 2 miles circular
Highlights: Waterfalls, woodland, riverside scenery.
Best for: All dogs, especially water-loving breeds.
3. Ingleton Waterfalls Trail (Ingleton)
This is one of the most spectacular waterfall walks in England. The Ingleton Waterfalls Trail follows a circular route through ancient woodland, deep gorges, and open hillsides, passing a string of impressive cascades including Thornton Force and Pecca Falls. The path is clearly marked and well-kept, though there are some steep steps and narrow sections where leads are required. Dogs will find plenty of interest along the way… sounds, scents, and water to splash in, making this a stimulating walk for curious canines. Entry fees apply, but the upkeep and beauty of the route make it worthwhile.
Trail details: Moderate | 4.3 miles circular
Highlights: Waterfalls, woodland, gorge paths.
Best for: Fit, adventurous dogs who enjoy sensory exploration.
4. Pen-y-ghent (Horton-in-Ribblesdale)
Standing at 694 metres, Pen-y-ghent is one of the famed Yorkshire Three Peaks and offers a fantastic challenge for experienced walkers and energetic dogs. The ascent is steep in parts, especially near the summit, but the sense of reward when you reach the top — with wide views across Ribblesdale — is unbeatable. The descent follows a gentler path, creating a satisfying loop. Dogs should be well-trained and confident with rocky scrambles, and it’s best to bring plenty of water and a towel for muddy paws.
Trail details: Challenging | 6 miles circular
Highlights: Mountain summit, moorland views, iconic peak.
Best for: Strong, fit dogs used to hill walking.
5. Bolton Abbey & The Strid (Wharfedale)
One of the most picturesque spots in the Dales, the Bolton Abbey estate offers a range of trails through ancient woodland and along the River Wharfe. The highlight is the dramatic stretch known as The Strid, a narrow, powerful channel where the river is forced through a small gap in the rocks. It’s stunning but dangerous, so dogs must be on leads near the water. The estate also has dog-friendly cafés, open meadows, and picnic areas, making it a full-day outing for families.
Trail details: Easy | 3 miles circular
Highlights: Abbey ruins, woodland trails, riverside walks.
Best for: Relaxed family walks with curious but steady dogs.
6. Ribblehead Viaduct & Whernside (Ribblehead)
This walk combines the awe of industrial heritage with the wild openness of the Dales. Start beneath the impressive 24-arch Ribblehead Viaduct before climbing gradually up to Whernside, the second (and highest) of the Yorkshire Three Peaks. The ascent is steady rather than steep, following good paths with sweeping views throughout. Dogs will love the freedom of the fells, though livestock is common and weather can change quickly at altitude. Pack layers, water, and treats for both of you.
Trail details: Challenging | 8 miles circular
Highlights: Railway viaduct, summit views, open fells.
Best for: Experienced walkers with confident, fit dogs.
7. Grassington to Burnsall (Wharfedale)
A classic Dales riverside walk linking two charming villages along the River Wharfe. This route offers a perfect mix of meadow paths, limestone outcrops and tranquil riverbanks. The Dales Way passes through here, making navigation easy. Stop for a drink at the dog-friendly Red Lion in Burnsall or the Devonshire pub in Grassington before looping back. There are plenty of spots where dogs can safely enter the river for a cool-off.
Trail details: Moderate | 6 miles linear (12 miles return)
Highlights: River Wharfe, meadows, stone villages.
Best for: Sociable dogs who enjoy long, scenic days out.
8. Hawes to Hardraw Force (Wensleydale)
A lovely low-level walk that combines rural charm with one of the Dales’ most impressive natural sights — Hardraw Force, England’s highest single-drop waterfall. Starting in Hawes, follow the track across fields and stone stiles to reach the small village of Hardraw, where access to the waterfall is through the dog-friendly Green Dragon Inn. It’s a short and gentle walk, but full of character. Leads are needed through farmland, but the easy terrain makes it a great option for a half-day outing.
Trail details: Easy | 4 miles circular
Highlights: Waterfall, countryside, historic inn.
Best for: Dogs of all ages who enjoy relaxed rambles.
9. Malham Tarn & Fountains Fell (Malham)
For a wilder, more remote experience, the loop around Malham Tarn and up to Fountains Fell delivers solitude and big skies. The route passes through open moorland, past the shimmering waters of the tarn and up onto the broad slopes of Fountains Fell. It’s quieter than nearby Malham Cove, but just as beautiful. Keep dogs on leads during nesting season and near sheep, and bring plenty of supplies — facilities are limited out here.
Trail details: Moderate | 7 miles circular
Highlights: Tarn views, moorland solitude, expansive vistas.
Best for: Confident dogs who enjoy remote adventures.
10. Semerwater Circular (Raydale)
Hidden away in one of the Dales’ quieter corners, Semerwater is the second-largest natural lake in Yorkshire and a peaceful place to explore with your dog. The circular walk around the lake is mostly on grassy paths and quiet lanes, offering superb views and regular water access for a paddle. Wildlife is abundant — especially birds — so keep an eye out and stick to the trail. It’s the kind of walk that feels wonderfully timeless and unhurried.
Trail details: Easy | 4 miles circular
Highlights: Lakeside paths, wildlife, rural tranquillity.
Best for: Calm, steady-paced walks away from the crowds.
Map of Dog Friendly Walks and Hikes in the Yorkshire Dales
Explore these dog friendly walks and hikes scattered across the beautiful Yorkshire Dales using our handy map, click the pins for more information and directions.
A tranquil walk around one of the Dales’ few natural lakes, surrounded by farmland and open scenery. Ideal for calm dogs who enjoy a gentle pace and the chance to paddle.
Trail Length: 4 miles
Difficulty: Easy
Off-lead possibility: Some
Parking available: Limited roadside
A remote moorland loop passing Malham Tarn and climbing gently up Fountains Fell for wide views of the Dales. Quiet, peaceful and perfect for confident dogs.
Trail Length: 7 miles
Difficulty: Moderate
Off-lead possibility: Some (avoid nesting season)
Parking available: Yes
A relaxed countryside walk linking Hawes with Hardraw, home to England’s tallest single-drop waterfall. Access to the falls is through the dog-friendly Green Dragon Inn.
Trail Length: 4 miles
Difficulty: Easy
Off-lead possibility: Some
Parking available: Yes
A classic riverside trail following the River Wharfe between two of Wharfedale’s prettiest villages. Expect meadows, woodland and plenty of dog-friendly pubs at both ends.
Trail Length: 6 miles (one way)
Difficulty: Moderate
Off-lead possibility: Some
Parking available: Yes (paid National Park car park)
Begin beneath the iconic 24-arch Ribblehead Viaduct before ascending to Whernside — the highest of the Yorkshire Three Peaks. A long but steady climb across open moorland with incredible views.
Trail Length: 8 miles
Difficulty: Challenging
Off-lead possibility: Some
Parking available: Yes
A peaceful woodland and riverside route within the Bolton Abbey Estate, featuring the ruins of the priory and the dramatic Strid gorge. Leads essential near the river but plenty of open space for dogs elsewhere.
Trail Length: 3 miles
Difficulty: Easy
Off-lead possibility: Some
Parking available: Yes (estate fee applies)
One of the Yorkshire Three Peaks, this rewarding climb from Horton-in-Ribblesdale delivers far-reaching views from the summit and a satisfying circular route. Bring water and take care on the rocky sections.
Trail Length: 6 miles
Difficulty: Challenging
Off-lead possibility: Limited (livestock present)
Parking available: Yes (National Park car park)
This well-marked circular route takes you through woodlands, deep gorges and past six dramatic waterfalls including Thornton Force and Pecca Falls. Steep steps and bridges add variety — leads required in some sections.
Trail Length: 4.3 miles
Difficulty: Moderate
Off-lead possibility: Limited
Parking available: Yes (paid)
A short and family-friendly woodland walk following the River Ure past its famous triple waterfalls. Shaded trails, picnic spots, and calm water make it a top choice for water-loving dogs.
Trail Length: 2 miles
Difficulty: Easy
Off-lead possibility: Some
Parking available: Yes (paid National Park car park)
A breathtaking circular route that takes in three of the Dales’ most iconic natural landmarks — the magical Janet’s Foss waterfall, the towering limestone gorge of Gordale Scar, and the sweeping views from atop Malham Cove. It’s a diverse walk packed with adventure, but keep dogs on leads near cliff edges and livestock.
Distance (Miles): 4.5
Difficulty: Moderate
Off Lead Possibility: Some
Parking Available: Yes
Explore more dog friendly locations, including hikes, campsites and road trips on our Wildpack Map, our curated and ever growing map of locations to explore with your dog.
What’s Nearby?
If you are looking to branch out from the Yorkshire Dales, there are plenty of excellent dog friendly walking areas within easy reach:
- Dog friendly campsites in The Yorkshire Dales
- Yorkshire Dales and North York Moors road trip
- Dog friendly walks in the North York Moors
- Dog friendly walks in the Lake District
- Dog friendly walks in the Peak District
- Dog friendly walks in Ripon
- Dog friendly walks in Derbyshire
A great way to keep discovering new landscapes while giving your dog plenty of variety under their paws.
Final Thoughts
The Yorkshire Dales are made for exploring, and with so many countryside paths, it’s one of the best regions in the UK to adventure together. Whether you’re scaling peaks or following rivers through ancient woodland, the Dales have a way of slowing life down and filling it with simple joy.
As always, check local guidance before heading out, respect livestock and wildlife, and carry plenty of water for both you and your dog. Then lace up, clip on, and get ready for an unforgettable day in one of England’s most beautiful national parks.