Short answer: Café Alf Resco is famously dog friendly with a covered courtyard, and Dudley's on Lower Street welcomes dogs alongside one of the best gluten-free menus on this coast. The Sail Loft has plenty of space and takes dogs. Most of the coves around Dartmouth are dog friendly.
For a town with narrow streets and small rooms, Dartmouth is unusually good about dogs. Several of the best places to eat welcome them inside as a matter of course rather than grudgingly, and the ferries take them, which means a whole day here works.
The Dartmouth institution, open from seven, with a covered courtyard and folding doors out to it. Excellent breakfasts and brunch, strong vegan and vegetarian options, and famously dog friendly. It is small and it queues — expect to wait, and know that the queue is the price of it being that good.
On Lower Street, warm and small, dog friendly, and with one of the best gluten-free menus on this coast — a full separate range rather than a single token option, plus crab sandwiches and alternative milks. Reviewers mention their dog being looked after alongside them. Closed Wednesdays.
The Sail Loft on Foss Street is a big characterful room with a wood burner upstairs, lots of seating inside and out, and a specifically dog-friendly welcome. It opens at three most days and is closed Sundays.
The Dartmouth Arms on Lower Street has a river view, sensible prices and takes dogs. The Floating Bridge, by the higher ferry a short walk out of the centre, is riverside, dog friendly and known for its Sunday roast — book online, and note there are only three parking spaces outside.
Kingswear Castle across the water does not allow dogs anywhere on the grounds — and it is a private holiday let rather than an attraction anyway. Photograph it from the water instead.
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