Short answer: Both pubs on Chagford's square take dogs, and so do both cafés. Castle Drogo ten minutes away welcomes dogs in its gardens and grounds, and the Hunter's Path up from Fingle Bridge is the walk worth doing.
Everything in Chagford sits on one medieval square, and almost all of it takes dogs. Park once, walk the moor, come back and sit down without anyone having to wait outside. For a dog-owning visitor that is a rare combination.
Park at Fingle Bridge and take the Hunter's Path up through the Teign gorge to Castle Drogo. It is the best walk on Dartmoor's eastern edge, it makes a proper morning of it, and dogs are welcome in the castle's gardens and grounds at the top.
Livestock and ground-nesting birds mean leads in the open. The lanes around Chagford are narrow and unlit, and ponies and sheep wander onto the moor roads — drive slowly, especially after dark.
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