Beauty makes walkies perfect for this lucky dog

But for me exploring the glorious Yorkshire countryside with my canine companions is one of my favourite pastimes.

But it is not always practical to take them along and there are places where they’re not welcome at all.

With a labrador and a German shepherd to exercise, I’ve discovered some outings that can be enjoyed with your four-legged friends and, like the best things in life, most are free.

Cayton Bay

Cayton is located just off the A165 coast road between Filey and Scarborough.

Your first glimpse of it is the mass of caravans on the cliff top; the village itself is set slightly inland. However, just out of view from the road, there’s a sweeping, sandy beach bordered by steep cliffs.

Turn right off the main road, park in the cliff top, pay and display car park next to the Surf Shop and wander down the steep slope. You’ll be rewarded with an expanse of sand that’s never packed with people, even during the summer months.

You may run into the odd surfer, bird watcher or other dog walkers, but, generally, there’s plenty of open space to let your dogs off their leads to enjoy a swim. Unlike most of the beaches along the East Coast, dogs are welcome at Cayton Bay all year round.

The Arboretum at Castle Howard

The first time I visited this arboretum I was pleasantly surprised to discover that dogs are welcome too.

You can even let them off their leads, so long as they’re under control at all times, although you are asked to keep them away from the lake and pond areas at times of year when they could disturb ground nesting birds.

This beautiful visitor attraction forms part of the Castle Howard Estate and is large enough for you to be able to stay out of the way of other visitors, making it easier to allow your dogs to roam free.

Although we’ve enjoyed walks there on many occasions since that first visit, we’ve never followed the same route twice as the stunning collection of trees and shrubs – gathered from all over the world – create an endless series of pathways, copses and leafy trails to explore.

Once you’ve worked up an appetite, there’s a lovely café with an outdoor seating area where your dogs can join you.

Water bowls are provided and the friendly staff always give you a biscuit for each of your dogs when your order your refreshments. Although the arboretum looks particularly beautiful in the autumn, it’s well worth a visit at any time of year.

Admission is £5 for adults and £2.50 for children. The arboretum and café are open daily from 10am between the beginning of March and end of November.

Sneaton Forest

There can’t be many places where you can enjoy afternoon tea and take your dog along too, but Sneaton Forest, five miles outside of Whitby, is one of them.

It’s signposted off the B1416 Ruswarp Road and is an area of broadleaved woodland clinging to steep-sided valleys with a crystal clear beck running through it.

The highlight is the magnificent Falling Foss waterfall and the adjacent tea garden, which is in the grounds of a charming cottage called Midge Hall.

Munch on a cream tea as you sit beneath the leafy canopy and listen to the sound of the waterfall plunging into a pool far below.

Canine visitors are not overlooked; you’ll find little jars of dog biscuits on the tables.

There’s a network of pathways through the wood, but it’s nice to follow the beck so that your dogs can enjoy splashing around. The Falling Foss Tea Garden is open daily from April to October, although it’s advisable to check if the weather is bad: http://www.fallingfossteagarden.co.uk

There’s a car parking area just a short walk from the tea garden and waterfall.