17 beautiful routes to do with your dog

Whatever the weather, the best companion to take on any walk is your dog. They’re just so enthusiastic, it’s guaranteed to put a spring in your own step. The trouble is, they’re not always greeted with similar enthusiasm by those that own our parks and stately homes. So here are some of the loveliest, dog-friendly outings that Jen and Sim Benson have discovered and put in their new book Great British Walkies — 100 Brilliant Dog Walks Through Beautiful Countryside. From winding hilltop paths through waterfalls to gentle woodland strolls, they are places where both you and your pet can enjoy yourselves and feel welcome.

How hard is it? 6.8 miles; moderate
On the northern fringes of Exmoor, this is a beautiful circular walk