The man and woman, aged in their 50s, were walking near Starbotton in Upper Wharfedale when the incident happened at 3pm on Wednesday.
The Yorkshire Air Ambulance landed but was not needed and the couple were taken to hospital by road ambulance with cuts and bruises.
Police praised the role played by public safety officer for the Grassington area Lucy Osborn, who was only appointed to the post in February
PSO Osborn was first on the scene and gave first aid before police and paramedics arrived.
She was recruited as part of North Yorkshire Police's Public Safety Service, which is being trialled in the Craven district. PSO Osborn and her colleague PSO Craig Lyons, who are also on-call firefighters, work with police, the fire service and the ambulance service on crime prevention and public safety issues.
She was also involved in the closure of Threshfield Quarry in May, when thousands of youths from all over the country turned up to party at the site's lake during a lockdown heatwave.
In May, an 82-year-old man from Lancashire was killed by cows when he and his wife, 78, were attacked by the herd while they were walking their dogs near Ribblehead Viaduct in the Dales. The woman was not seriously injured. The cattle had calves with them.
On July 19, a couple were 'trampled' by cows while walking through a field near Huggate in the Yorkshire Wolds. One had to be airlifted to hospital.