Short answer: Fairy Cove behind the harbour takes dogs all year round, and Paignton Beach South opens to dogs from 1 October. Harbour Light, the Boathouse, Costero Lounge and the Hyde Dendy all welcome dogs. Paignton Zoo does not.
Fairy Cove is the year-round answer — a hidden cove behind the harbour, shaded, with clear water and rock pools, and dog friendly every day of the year, so expect dogs off the lead. It is reached down steep steps.
Paignton Beach South, below the pier, opens to dogs from 1 October through the winter. The main Paignton Sands has seasonal restrictions.
Beach dog rules in Devon change with the season — many ban dogs from May to September and lift the ban from October. Read the signs on arrival rather than assuming, because they vary beach by beach.
Paignton Zoo admits assistance dogs only. But its nature reserve, Primley Park, is a short distance away and welcomes all dogs, free, twenty-four hours a day — which solves the afternoon if someone wants the zoo.
The Dartmouth Steam Railway runs from Paignton, and dogs are welcome on the trains and the river boats. That makes the whole Paignton to Dartmouth day possible with a dog.
Cockington Country Park in Torquay is free and welcomes well-behaved dogs throughout. Berry Head at Brixham is a free nature reserve with a dog-friendly café.
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