Make your dog’s day with a stroll in the country and a quick café lunch

You might be happy with a day curled up in front of the fire with the latest Jilly Cooper and an equally steamy glass of mulled wine, but your beloved four-legged friend will undoubtedly have other ideas. These bouncy, sociable creatures like to get out and about and fill their doggy diaries with people to see and places to sniff. So, here are six of the best dog-friendly days out to give you and your pet pooch somewhere to mooch this winter.

Helmsley Castle While you unlock 900 years of history, your dog can paws for though in this mighty medieval fortress in the North York Moors National Park. The property might have begun life as a fortress but it’s also been a luxurious Tudor mansion, a Civil War stronghold and a romantic Victorian ruin, so you’ll be enjoying a journey through time as well as a walk in the fresh air. And when the dog’s busy doing whatever dogs do, you can make the most of a fun hands-on exhibition in the house. www.english-heritage.org.uk/visit/places/helmsley-castle

Burton Agnes Hall Pop in and say hello to the Cunliffe-Listers at their turn-of-the-17th-century pile near Driffield, described by author Simon Jenkins as ‘the perfect English House’ in his book England’s Thousand Best Houses. It was built between 1598 and 1610 by Sir Henry Griffith and has stayed within the current family for more than 400 years (that’s 15 generations, in case you were wondering). The house itself is an absolute treasure trove and the award-winning gardens are a perfect adventure playground for dogs on leads. www.burtonagnes.com

Ryedale Folk Museum Nestled in the ridiculously picturesque village of Hutton-le-Hole in the heart of the North York Moors National Park, this fabulously folksy museum offers a unique glimpse into the past. Its atmospheric buildings and collections, spread over six leg-stretching acres, tell the story of rural life from the Iron Age to the 1950s. And as if that wasn’t exciting enough, the energetic army of volunteers also host an annual tractor day. That’s right, a whole day of tractors. www.ryedalefolkmuseum.co.uk

Whitby Abbey A must for fangs of all things gothic, Whitby Abbey is perched high on a cliff overlooking the famous – and, some might argue, infamous – seaside town that inspired Bran Stoker to pen Dracula. You can sink your teeth into centuries of history while enjoying amazing views and a packed events programme both at the abbey and down in the meandering streets of the town. And once your dog has climbed the 199 steps up to the abbey, they won’t need walking again for a week. Result! www.english-heritage.org.uk/visit/places/whitby-abbey

Forge Dam This blissfully scenic spot in Fulwood, Sheffield, is a very popular choice for cyclists, joggers and walkers (both with and without dogs). Its unwavering popularity is partly down to the lovely wooded surroundings and partly due to the warm welcome visitors receive at the Forge Dam Café, which has served up great grub to weary walkers (and bowls of water for their tail-wagging companions) for more than 80 years. The café has even received honourable mention in a Pulp song as Jarvis Cocker is allegedly something of a fan. www.forgedamcafe.com

Pocklington Canal This idyllic rural waterway was once derelict and a veritable dumping ground for industrial waste. It was saved, however, by a band of relentless volunteer and campaigners and is now one of the country’s best canals for nature and home to no less than three Sites of Special Scientific Interest. The canal-side architecture also adds interest to the scenery, with its distinctive swing bridges, classic hump-backed bridges and restored (and unrestored) locks. www.pocklingtoncanalsociety.org

Upload photos of your dogs enjoying the Yorkshire countryside in our reader gallery