Stokesay Castle

Stokesay Castle is a beautifully preserved fortified manor house set in peaceful grounds seven miles north-west of Ludlow in the Shropshire Hills. Dogs on leads are welcome to explore the grounds, which include the garden, moat walk and a dedicated dog-bowl and toileting area, making this a proper heritage day out that doesn't mean leaving your dog in the car. The castle itself is off-limits to ordinary dogs, but guide and hearing dogs are welcome inside.

Open daily from 10am to 5pm, with last entry at 4.30pm, the site works well for a morning or afternoon visit. Advance tickets are available and save 15 per cent; you can also book at the ticket page on the day. Visitor parking is in a grass field about 300 metres from the entrance—non-members pay, while English Heritage members with a valid car sticker park free.

The grounds give you room to wander while the rest of the group explores the castle interiors and there's a tearoom on-site for refreshments. It's a relaxed spot for a lead walk with a bit of history and the moat walk is especially satisfying for a gentle sniff and stretch between sites.