Richmond Castle

Richmond Castle is a historic fortress in the Yorkshire Dales National Park, perched above the River Swale with its original 12th-century keep still standing. The castle grounds are open to explore with your dog on a lead, though the Keep exhibition and indoor areas are for humans only. It's managed by English Heritage and offers a proper day-out attraction rather than just a walk, with plenty of outdoor history and space for a good sniff around the main Ward.

Dogs are welcome on leads throughout the castle grounds, so you can enjoy the walls, gateways and outer areas together while your human explores the exhibition separately if they choose. There's even a dog bowl by the entrance for a quick drink before you start. The castle is open daily from 10:00 to 17:00, with last entry at 16:30.

You'll find charged public parking in the marketplace nearby, though there's no on-site parking. It's a strong Hawes day-out option, around 24 miles by road and well within range for a Dales adventure with the dog in tow.