Short answer: Tavistock is one of the easier Devon towns with a dog. The Meadows is a large free park by the river, Dartmoor starts at the edge of town, and the Cornish Arms takes dogs in the bar.
It is a working stannary town on the edge of Dartmoor rather than a beach resort, which means no seasonal bans to navigate and no shuttered cafés in February. The moor is free, open and on the doorstep, and several of the best places to eat welcome dogs indoors.
The Meadows is a large free park between the River Tavy and the Tavistock Canal, with a zip wire, a playground and a BMX pump track. It is a short walk from the centre and it costs nothing to park there, which makes it the easy daily walk.
The Annex on Drake Road and the Malthouse. Both are worth an evening when the dog can stay behind.
Dartmoor is working farmland as well as open country. Keep dogs on leads around livestock and ground-nesting birds, watch for ponies on unfenced roads, and remember the weather turns fast and the light goes by four in winter.
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