The North York Moors is a brilliant place to explore with your dog. From sweeping heather moorland to peaceful woodland trails and dramatic coastline, the park offers huge variety for dogs that love to roam. Below you will find some of the best dog friendly walks in the area, with a mix of distances and difficulties so you can find something that suits your dog and the day.
Each route includes key details to help you plan. Always check local guidance on lead requirements, especially around livestock and ground nesting birds.
1. Roseberry Topping and Newton Wood
Roseberry Topping is one of the most iconic landmarks in the region. The trail from Newton-under-Roseberry begins with a gentle woodland ascent before opening out onto a steeper climb. Dogs love the mix of shaded forest and breezy open slopes, giving them plenty of interest along the way.
The summit offers wide views across the moors and coastline, making it a rewarding outing for both dogs and owners. The route can get busy which is great for sociable dogs, but those that prefer quieter spaces may enjoy early morning visits. Off lead opportunities are best within the woodland sections.
Distance: 2.5 miles (4 km)
Difficulty: Moderate
Off Lead Possibility: Some
Parking: Yes, at Newton-under-Roseberry
2. Sutton Bank and the Kilburn White Horse
This popular route offers some of the most impressive viewpoints in the national park. Dogs enjoy a mix of forest tracks and open clifftop paths, with lots of chances to stop and sniff. The route is well maintained and suitable for most dogs, including those less confident on rocky or uneven terrain.
There are fenced viewpoints and wider tracks that allow comfortable walking on a lead. As with all clifftop routes, some caution is needed, but there are several stretches where dogs can enjoy more freedom.
Distance: 3 miles (4.8 km)
Difficulty: Easy to Moderate
Off Lead Possibility: Some
Parking: Yes, at Sutton Bank Visitor Centre
3. Rievaulx Abbey to Helmsley Loop
This scenic circular walk links two of the most historic spots in the area. The woodland paths near Rievaulx offer cool shade and gentle ground underfoot, ideal for dogs that enjoy quieter environments. The riverside sections provide even more scents and interest for curious noses.
As the route opens up near Helmsley, there is space for confident dogs to enjoy some freedom where safe. Sheep may be present in surrounding fields, so a mix of on lead and off lead time is usually needed.
Distance: 6 miles (9.6 km)
Difficulty: Moderate
Off Lead Possibility: Some
Parking: Yes, in Helmsley or Rievaulx
4. Hole of Horcum Circular
The Hole of Horcum is one of the most impressive natural features in the park. The descent into the huge amphitheatre is gentle and full of variety, with grassy tracks and open moorland that dogs love to explore. The landscape feels spacious without being overly challenging.
The return route along the moor edge gives panoramic views and plenty of interest for dogs that like wide open spaces. Sheep are common here, so recall is important and leads may be needed.
Distance: 5 miles (8 km)
Difficulty: Moderate
Off Lead Possibility: Limited
Parking: Yes, at Saltergate car park
5. Falling Foss and May Beck
This is a wonderful woodland walk with a beautiful waterfall as the highlight. Dogs love the cool, shaded paths and streamside sections, making it a great choice for warmer days. There are natural pools where confident dogs can paddle safely.
The terrain is gentle and varied, keeping the route interesting without being too demanding. Most of the walk is suitable for off lead exploring, provided your dog has good recall around other visitors.
Distance: 2 miles (3.2 km)
Difficulty: Easy
Off Lead Possibility: Lots
Parking: Yes, at May Beck
6. Levisham Moor and Skelton Tower
This moorland route is perfect for dogs that enjoy open landscapes and plenty of space. Starting near Levisham, the trail crosses wide areas of heather moor, offering long sightlines and room to roam. Outside of bird nesting season, well trained dogs often enjoy good off lead time here.
Skelton Tower provides a dramatic viewpoint above Newton Dale where steam trains can sometimes be seen below. Livestock may be present, so lead use is important at times.
Distance: 4.5 miles (7.2 km)
Difficulty: Moderate
Off Lead Possibility: Some
Parking: Yes, near Levisham
7. Whitby to Robin Hood’s Bay
This coastal section of the Cleveland Way is a brilliant option for energetic dogs. The long grassy paths offer great variety and the refreshing sea air gives plenty of new scents. The route is straightforward but the distance makes it a good workout for active dogs.
There are some steep drops along the clifftops, so off lead opportunities are limited. The reward is finishing in Robin Hood’s Bay, which has several dog friendly places to rest.
Distance: 7 miles (11.2 km)
Difficulty: Moderate
Off Lead Possibility: Limited
Parking: Yes, in Whitby or Robin Hood’s Bay
8. Dalby Forest Ellerburn Trail
Dalby Forest is one of the most dog friendly places in the region, and the Ellerburn Trail is perfect for dogs that prefer gentle, predictable terrain. The route follows a stream through peaceful woodland, keeping things cool and calm.
There are several loops available which makes the trail adaptable for younger dogs or those building up their stamina. Off lead opportunities are plentiful in the right areas, making this a great confidence building walk.
Distance: 2 to 3 miles (3.2 to 4.8 km)
Difficulty: Easy
Off Lead Possibility: Lots
Parking: Yes, at Dalby Forest
9. Glaisdale to Egton Bridge Riverside Walk
This riverside trail is ideal for dogs that enjoy steadier, relaxed walks. The path follows the River Esk through peaceful woodland, offering lots of scents and occasional water access for dogs that like to paddle.
The area stays quiet compared to the moorland routes, making it great for dogs that prefer less stimulation. The short road sections near the villages require leads, but most of the walk is calm and enjoyable.
Distance: 4 miles (6.4 km)
Difficulty: Easy
Off Lead Possibility: Some
Parking: Yes, in Glaisdale
10. Osmotherley and Cod Beck Reservoir Loop
Cod Beck Reservoir is a scenic and manageable route for most dogs. The circular path offers lots of variety, from woodland edges to wide, open tracks. Dogs stay stimulated throughout thanks to the changing scenery and gentle terrain.
The water adds extra interest and the area is ideal for calm, steady paced outings. Wildlife is common around the reservoir, so leads or good recall may be needed in places.
Distance: 3 miles (4.8 km)
Difficulty: Easy
Off Lead Possibility: Some
Parking: Yes, at Cod Beck Reservoir
Map of Dog Friendly Walks in North York Moors National Park
Our handy map below shows the location of each of these walks and hikes across the North York Moors. Click the pins for more information and to get directions to the nearest car park.
Cod Beck Reservoir is a scenic and manageable route for most dogs. The circular path offers lots of variety, from woodland edges to wide, open tracks. Dogs stay stimulated throughout thanks to the changing scenery and gentle terrain.
The water adds extra interest and the area is ideal for calm, steady paced outings. Wildlife is common around the reservoir, so leads or good recall may be needed in places.
Distance (Miles): 3
Distance (KM): 4.8
Difficulty: Easy
Off Lead Possibility: Some
Parking: Yes
This riverside trail is ideal for dogs that enjoy steadier, relaxed walks. The path follows the River Esk through peaceful woodland, offering lots of scents and occasional water access for dogs that like to paddle.
The area stays quiet compared to the moorland routes, making it great for dogs that prefer less stimulation. The short road sections near the villages require leads, but most of the walk is calm and enjoyable.
Distance (Miles): 4
Distance (KM): 6.4
Difficulty: Easy
Off Lead Possibility: Some
Parking: Yes
Dalby Forest is one of the most dog friendly places in the region, and the Ellerburn Trail is perfect for dogs that prefer gentle, predictable terrain. The route follows a stream through peaceful woodland, keeping things cool and calm.
There are several loops available which makes the trail adaptable for younger dogs or those building up their stamina. Off lead opportunities are plentiful in the right areas, making this a great confidence building walk.
Distance (Miles): 2–3
Distance (KM): 3.2–4.8
Difficulty: Easy
Off Lead Possibility: Lots
Parking: Yes
This coastal section of the Cleveland Way is a brilliant option for energetic dogs. The long grassy paths offer great variety and the refreshing sea air gives plenty of new scents. The route is straightforward but the distance makes it a good workout for active dogs.
There are some steep drops along the clifftops, so off lead opportunities are limited. The reward is finishing in Robin Hood’s Bay which has several dog friendly places to rest.
Distance (Miles): 7
Distance (KM): 11.2
Difficulty: Moderate
Off Lead Possibility: Limited
Parking: Yes
This moorland route is perfect for dogs that enjoy open landscapes and plenty of space. Starting near Levisham, the trail crosses wide areas of heather moor, offering long sightlines and room to roam. Outside of bird nesting season, well trained dogs often enjoy good off lead time here.
Skelton Tower provides a dramatic viewpoint above Newton Dale where steam trains can sometimes be seen below. Livestock may be present, so lead use is important at times.
Distance (Miles): 4.5
Distance (KM): 7.2
Difficulty: Moderate
Off Lead Possibility: Some
Parking: Yes
This is a wonderful woodland walk with a beautiful waterfall as the highlight. Dogs love the cool, shaded paths and streamside sections, making it a great choice for warmer days. There are natural pools where confident dogs can paddle safely.
The terrain is gentle and varied, keeping the route interesting without being too demanding. Most of the walk is suitable for off lead exploring, provided your dog has good recall around other visitors.
The Hole of Horcum is one of the most impressive natural features in the park. The descent into the huge amphitheatre is gentle and full of variety, with grassy tracks and open moorland that dogs love to explore. The landscape feels spacious without being overly challenging.
The return route along the moor edge gives panoramic views and plenty of interest for dogs that like wide open spaces. Sheep are common here, so recall is important and leads may be needed.
Distance (Miles): 5
Distance (KM): 8
Difficulty: Moderate
Off Lead Possibility: Limited
Parking: Yes
This scenic circular walk links two of the most historic spots in the area. The woodland paths near Rievaulx offer cool shade and gentle ground underfoot, ideal for dogs that enjoy quieter environments. The riverside sections provide even more scents and interest for curious noses.
As the route opens up near Helmsley, there is space for confident dogs to enjoy some freedom where safe. Sheep may be present in surrounding fields, so a mix of on lead and off lead time is usually needed.
Distance (Miles): 6
Distance (KM): 9.6
Difficulty: Moderate
Off Lead Possibility: Some
Parking: Yes
This popular route offers some of the most impressive viewpoints in the national park. Dogs enjoy a mix of forest tracks and open clifftop paths, with lots of chances to stop and sniff. The route is well maintained and suitable for most dogs, including those less confident on rocky or uneven terrain.
There are fenced viewpoints and wider tracks that allow comfortable walking on a lead. As with all clifftop routes, some caution is needed, but there are several stretches where dogs can enjoy more freedom.
Distance (Miles): 3
Distance (KM): 4.8
Difficulty: Easy to Moderate
Off Lead Possibility: Some
Parking: Yes
Roseberry Topping is one of the most iconic landmarks in the region. The trail from Newton-under-Roseberry begins with a gentle woodland ascent before opening out onto a steeper climb.
Dogs love the mix of shaded forest and breezy open slopes, giving them plenty of interest along the way.
The summit offers wide views across the moors and coastline, making it a rewarding outing for both dogs and owners. The route can get busy which is great for sociable dogs, but those that prefer quieter spaces may enjoy early morning visits. Off lead opportunities are best within the woodland sections.
Distance (Miles): 2.5
Distance (KM): 4
Difficulty: Moderate
Off Lead Possibility: Some
Parking: Yes
Find even more dog friendly walks, campsites and road trips across the UK on our Wildpack Map, our ever growing, curated list of dog friendly points of interest for adventurous owners.
General Hiking Advice
- Pick routes that suit your dog: Different breeds have different natural hiking abilities, but also take into account your dogs own fitness levels before undertaking a hike.
- Pack the essential dog hiking gear: water, bowl, treats, poo bags and a lightweight towel. Weather can change quickly on higher ground, so keep layers handy for both you and your dog.
- A harness and long line are useful in places where livestock graze or where ground nesting birds are protected.
- Watch out for seasonal hazards like bracken, adders on warm days and muddy moorland that can be tough on paws.
- Give your dog regular rest stops to cool down, hydrate and reset. Moorland routes often feel more exposed, so breaks matter.
- If you want help planning longer adventures, you can find more tips in our wider hiking advice and dog friendly camping guides.
Final Thoughts
The North York Moors is a brilliant place to explore with a dog. The contrast between sweeping heather moorland, sheltered woodland and dramatic coastline means every walk feels a little different. Whether you choose a relaxed forest loop or a demanding hill climb, you will always find plenty of space for your dog to enjoy.
If you are looking for more inspiration, take a look at our dog friendly walking guide for The Yorkshire Dales, which is just a stones throw away. Ripon makes an ideal base for exploring all that Yorkshire has to offer. If you’re looking for a real adventure, why not take on the Yorkshire Dales and North York Moors Road Trip and complete as many of these hikes as you can on the way!