Going on holiday shouldn't mean leaving the dog at home, and thankfully, as a nation of dog lovers, Britain has plenty of places where you can bring your pup along. Whether you're after a swish city break or an adventure in the mountains, or perhaps a coastal escape to the seaside, there's a destination for every dog across England, Scotland and Wales. Here, Lottie Gross – author of Dog-Friendly Weekends – chooses her favourite.

This historic city has lots to offer dogs – and humans. Its enormous Gothic cathedral, which dates back to the 10th century, is a spectacular sight and dogs are allowed to join you on tours of its ornate interior. Across the square is a Norman castle, which has dog-friendly days each month throughout the summer. You can walk the castle walls for brilliant views over Lincoln before heading down Steep Hill to stop in its myriad dog-friendly shops. Finish your day at the Wig & Mitre where the dog might just get a Lincolnshire sausage too. Stay at the White Hart Hotel, which offers treats on arrival.

This little island perching just off the northwest corner of Wales has big adventures for dogs and humans alike. Its main urban centre is Beaumaris, a charming little seaside town sitting on the Menai Strait, with a dog-friendly castle that's well worth exploring and some of the island's best fish and chips. But for brilliant beach action, base yourself on the island's southwest coast in Rhosneigr, where Sandy Mount House has lovely bright bedrooms and a dog-friendly bar and terrace and The Oyster Catcher serves up excellent local seafood right behind the sand dunes. Dogs can run off-lead on the beach year-round.

Scotland's most-loved national park, the Cairngorms, is a haven for dogs seeking adventure. There's canoeing and kayaking on Loch Morlich, which has a dog-friendly beach too, and a brilliant four-mile (6.4km) trail around Loch an Eilean where you can let them off the lead in the on-site exercise field. In the south of the national park, there's the Queen's favourite summer getaway: Balmoral. Hikes around the estate's Cairn Trail are spectacular, with views over the royal residence and gorgeous mountain vistas. The Fife Arms is the best place to stay here. It offers bowls and beds, a 'turndown gift' and plenty of fuss for the pooch.

Always fancied camping in the Lakes but don't fancy that infamous weather? The zero-carbon Quiet Site on the shores of Ullswater has the answer, with its Gingerbread Houses and Pods, which will keep you and the dog dry even in the wettest weather. From here, you can set out for walks on the Ullswater Way, and weary legs can use the Ullswater Steamers to skip sections of the 20-mile (32km) trail. Head to Pooley Bridge for excellent afternoon teas or go into nearby Keswick to visit the dog-friendly Derwent Pencil Museum.

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Every dog loves a day beside the seaside and in Hastings there's extra fun for the humans too. Young kids will love the RIBA award-winning pier, packed with snack stalls and fun games, while older children might enjoy a visit to the True Crime Museum, where the dog can join you to have its mugshot taken too. The shingle beach is dog-friendly between the pier and Warrior Square Gardens, while the funiculars that ferry passengers up and down the cliffs are an exciting way to find a great view. Stay at Ruby’s Rooms for a warm welcome right by the dog-friendly section of the beach.

While the north Cornwall coast has some vast sweeps of sand, many of them only allow dogs during winter. Instead, head to the Roseland Peninsula and you will find beaches aplenty where the dog can roam year-round. Carne Beach is a particular favourite, backed by grassy cliffs and strewn with stripy boulders. Here, The Nare is the place to stay. It might cost upwards of £400 ($514) a night, but the dog gets a chef's special dinner and you'll get complimentary afternoon tea on the terrace daily. North of here, attractions like the Lost Gardens of Heligan and The Eden Project are a great day trip.

A fantastic family holiday can be had in Dundee, and while you can't take the dog into the V&A Dundee you can explore its spectacular architecture from the waterside walkway together. Head south from here and you'll find the HMS Unicorn, a 200-year-old frigate floating in the dock that's now a dog-friendly museum. Further along the Tay River is Dundee Transport Museum, where you, the kids and the dog can sit in all manner of historic public transport, from old buses to tall trams. Spend some time at the beach in Broughty Ferry and don't miss a bowl of local mussels in The Ship Inn.

The Welsh capital might not be first on your list for a dog-friendly break, but it's surprisingly welcoming for four-legged creatures. With the vast Bute Park at its centre and the dog-friendly public square around Cardiff Castle, there are plenty of open spaces to roam with your pet. Plus, the buzzing Victorian Central Market and beautiful shopping arcades off the High Street also allow dogs. There are boat trips from Bute Park to the Bay Area where you can walk the Bay Trail, but best of all is St Fagans, a brilliant living museum with myriad historic buildings. Stay at 5-star voco St David's for brilliant views over the bay.

The twisting River Wye is one of Britain's most attractive waterways. Come here to paddle about in canoes with the dog from Kerne Bridge or Symonds Yat and don't miss a visit to the vast ruins of Tintern Abbey. You can visit vineyards here with the dog by your side or nip into the nearby Forest of Dean, where endless footpaths and a sculpture trail are a welcome diversion. Book in to stay at The Roost, a glamping site which has two eco cabins with outdoor Japanese bathtubs set within an enclosed field.

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This unassuming market town was founded in around AD 700 and while much of its medieval architecture is no longer, it makes up for it with a smattering of handsome Georgian houses and a thriving marketplace. It's all about slow travel here, as there are no big attractions or blockbuster sights. Enjoy its characterful pubs instead, like The White Horse Inn, where the dog can join you for a pint and brilliant tours by local history enthusiast Paul Scholfield. Beverley Westwood is a vast parkland for long walks and a day trip out to RSPB Bempton Cliffs to see half a million seabirds in summer is a must.

Without the convenience of motorways and major train stations, this corner of Norfolk feels a little remote and it's all the better for it. Holkham is a tiny village on the North Norfolk coast, with a truly huge sweep of sand and one of the region's most handsome country house estates. Come to explore the walled gardens at Holkham Hall and visit the excellent on-site museum which charts the history of the local land, then spend lazy afternoons on the beach or take a boat trip out to Blakeney Point to see the seals and loll about in the surf. The Victoria Inn is the best place to stay, with dog treats on arrival and an excellent locally sourced dinner menu.

You might think Snowdonia National Park is all about hiking, but it doesn't have to be. If you don't fancy scaling one of the park's many peaks, head to the serene Coed y Brenin forest for long walks with mountain views. Porthmadog is home to the Ffestiniog Railway, where you can board a heritage steam train for a trundle through the peaks. Don't miss Hangin' Pizzeria for inventive toppings and a sausage for the dog. Stay in a working slate quarry at Llechwedd Glamping safari tents, where you can walk the dog amid the bleak but bizarrely beautiful slag heaps.

This pretty town is a delightful place to while away a day or two, but there's lots more to see in and around Corbridge than you might expect. The town once had a large Roman settlement and evidence of it can still be seen at Corbridge Roman Town, where you can walk down the old Roman high street. Nearby, just within Northumberland National Park, a host of fortifications around Hadrian's Wall are well worth exploring too and there's a glorious walk from Steel Rigg car park to Sycamore Gap with spectacular views from the top of the Sill, an ancient geological ridge.

Hungry dog owners need to beeline for Mull, an Inner Hebrides island accessible from Oban on the mainland of Scotland. It's all about seafood here, with scallop wraps from the weekly market in Tobermory and local oysters and mussels on almost every menu in town. Kids will love Tobermory's catch-and-release aquarium, where you can meet sea creatures up close with the dog and adults will want to stop in at the distillery around the corner. The Isle of Mull Hotel & Spa is the island's best hotel and it has plenty of green space and access to the local beach for early morning dog walks.

You could spend a fortnight in Pembrokeshire and you still won't have explored all its spectacular dog-friendly beaches and attractions. Families should base themselves around Tenby, with Heatherton World of Activities and its rollercoasters and rides. Beaches like Manorbier and Freshwater East are great for swimming and rockpooling. Further towards St David's on the west coast, there are dog-friendly boat trips out to Skomer and Ramsey Islands where you can watch puffins fly and float from the comfort of your RHIB.

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If you really want to escape with the dog, there's no better place for it than the Isles of Scilly. This idyllic archipelago is all white-sand beaches, wild blustery hills and ancient castles. Fly or take the ferry over to main island St Mary's, then hop abord the small ferries that connect the four other islands, Bryher, Tresco, St Agnes and St Martin's. Don't miss a visit to the tropical Tresco Abbey Gardens and take a wildlife watching boat trip with St Agnes Boating to see seals, Manx shearwaters and petrels throughout summer. Karma St Martin's is the archipelago's finest dog-friendly hotel, with a soft sandy beach right on its doorstep.

Dog walks rarely get better than in the Brecon Beacons: rolling hills, rich green pasture and charming towns and villages to stop in to refuel. Base yourself in lovely Brecon, where you can walk along the Monmouth & Brecon Canal or take a scenic narrowboat ride on the Dragonfly and you'll be in the perfect place for an adventure. There are star-gazing opportunities from the nearby visitor centre at Libanus, wine tastings at Sugar Loaf Vineyards just 30 minutes south or long hikes up the national park's most famous peak, Pen y Fan.

Glastonbury isn't just a town for witches, wizards and ageing hippies – it's also a great place for dogs. Both Druids and dogs will love hikes up to Glastonbury Tor, where the remains of a 14th-century church offers picturesque views of the Somerset Levels. Back in town there's a stunning ruined abbey worth exploring and up the road in Wells you could shop for trinkets and odd bits in a huge reclamation yard before visiting the behemoth cathedral that's made this the smallest city in England. Stay at Middlewick Farm where there's self-catering cottages and glamping pods and a dog-friendly farm shop full of treats for all.

Royal history, seafaring fun and a tiny train to ride make the Isle of Wight a brilliant holiday destination for all, dogs included. Take a pleasure cruise to the Needles, a collection of impressive white sea stacks strewn off the west coast of the island, explore Queen Victoria's favourite residence Osborne House or ride the Isle of Wight Steam Railway, which trundles along a nine-mile (15km) track through the countryside. The Garlic Farm is a must-do – don't miss a try of the garlic beer – and brilliant accommodation can be found in quirky safari tents at Southland campsite.

Nights out in Liverpool are often too raucous for a dog, but if you know where to go, you too can soak up this musical city's great weekend atmosphere. The Georgian Quarter is its most dog-friendly area, with posh wine bars like Bunch where you can sip Beaujolais by the glass and brilliant restaurants like London Carriage Works where stone bass and halibut are the highlights. By day, walk along its historic waterfront or take a cruise with Mersey Ferries, and be sure to take a drive up to Crosby Beach to see Anthony Gormley's famous statues.

It's all about nature in Dartmoor and this relatively small national park is easy to explore over a few days. Start out at Canonteign Falls, where you can pick up free dog treats in the shop before hiking up a towering waterfall, which sends water plunging 220 feet (67m) to the ground. In nearby Bovey Tracey, House of Marbles is a dog-friendly shop with a restaurant and quirky marble and pottery exhibitions. Slightly further afield is the South Devon Railway, which has vintage train carriages pulled by steam along a seven-mile (11km) track. Walkers will love hiking up to Hound Tor, Haytor Rocks and Bellever Tor.

Who better to sniff out the Loch Ness monster than a dog? This long, skinny loch in the Scottish Highlands has endless entertainment, be it walks along its shores at Dores Beach or hikes up to the Falls of Foyers in the hills that surround it. Don't miss a boat trip with Jacobite Cruises, who offer tours on the water with excellent insights from a knowledgeable guide. Fort Augustus has the best hotel, The Lovat, whose restaurant is dog friendly and serves a fantastic tasting menu, and where the Garden Rooms have private, enclosed patios for the pooch to roam.

A small but supremely diverse national park, the North York Moors have ample appeal for dog owners. The walks, of course, are excellent and if you're happy with a map and compass, you can traverse all manner of unmarked trails here. But those who prefer a more sedate way of life should hop on the North Yorkshire Moors Railway at Pickering. Its steam train trundles over hills and through valleys all the way to Whitby, where a visit to the dramatic clifftop ruined abbey is a must. The Fox & Rabbit Cottages near Pickering are conveniently plonked right next to a dog-friendly pub.

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Along the banks of the River Tweed you'll find some of Scotland's most interesting sights and, fortunately, many are dog-friendly. Melrose should be your first port of call for a visit to its atmospheric ruined abbey where it's thought the heart of Robert the Bruce is buried. Nearby, the home of Sir Walter Scott, Abbotsford, is a brilliant diversion with its vast parkland where the dog can run off lead. Finally, don't miss Traquair House, one of the longest-occupied homes in the country with plenty of grounds for long walks. Stay nearby at Crieff Hydro Hotel, whose gardens are great for walking in the morning.

The Scottish capital is surprisingly dog-friendly. While you can't visit the magnificent medieval castle, you can have fun at its gates inside the Camera Obscura World of Illusions, where the dog can join you in the mirror maze, at interactive exhibits and on the rooftop where the camera obscura offers brilliant views over the city. Just outside the city centre is Portobello Beach, a dog-friendly stretch of sand perfect for a little fetch. Be sure to book into the finest dog-friendly hotel in town, Kimpton Charlotte Square, which gives dog owners access to a private, enclosed garden in the middle of the square for safe off-lead runabouts.

A trip to Oakham in England's smallest county will have both you and the dog full to the brim with good food. Dog-friendly establishments abound, but the best is the Grainstore Brewery, where beers, burgers and exceptionally moreish pork scratchings are the highlight. Walk it off in the grounds of Oakham Castle, a curious little Norman building packed with decorative horseshoes. Indulge in a full food tour of the region on the food and drink trail, either cycling (bikes and dog buggies for hire at Rutland Cycling), walking sections or driving between each tasty stop. A paddle about on Rutland Water will help you work up an appetite too.

For blockbuster scenery, you can't really get much better than Glen Coe, which reached the height of its fame among tourists after it starred as the home of James Bond in Skyfall. Come here to hike along its trails or visit the stunning Glencoe Lochan, which is most arresting at dawn as the sun lights up the mountain peaks in the distance. Nearby, you can board the Jacobite Steam Railway with the dog in Fort William or head up into the Nevis Range on a cable car for excellent mountain views. The Glencoe Inn has the best beds and a dog-friendly restaurant to boot.

The Yorkshire Dales is perfect for dogs with endless footpaths traversing its patchwork of pastures and drystone walls. But beyond walking there's lots to do in the Nidderdale Valley, an AONB within the Dales. Head to the Himalayan Garden & Sculpture Park for an enchanting afternoon amid vast rhododendron plantations or visit Fountains Abbey. Pateley Bridge is home to a dog-friendly pancake shop which bakes its own dog treats and at Riverdale Rural Holidays you can relax in a riverside bathtub while the dog roams your private, enclosed garden around a luxury shepherd's hut.

London loves dogs. Get on the Tube with your pooch and you'll notice a wry smile from at least one or two commuters. And your dog will love London, especially if you treat it to an afternoon snack at Love My Human Townhouse, a café made especially for dogs where people are the afterthought. The city is full of dog-friendly fun, from huge green spaces like Hyde Park to dog-friendly canal boat trips with GoBoat. Best of all, though, is the Tower Bridge glass walkway. Book into Holmes Hotel near Regent's Park where your dog will get a plush bed, bowl and Lily's Kitchen treats too.

Sitting on the edge of the Shropshire Hills, Ludlow makes a brilliant base for a walking weekend. Stay at the delightful Clive Arms (hooray for dog biscuits on arrival and food bowls in the room) and you can walk into town over the bucolic Ludlow Estate, or drive up the A49 towards Bury Ditches for a hike up an Iron Age hill fort. Ludlow Castle is dog-friendly, even up its twisting spiral staircases which take you to the top of its crenelated towers for fine views over the town and great beers can be had in the dog-friendly tap room of the Ludlow Brewing Company.

Dog-Friendly Weekends: 50 Breaks in Britain for You and Your Dog by Lottie Gross is available online and in all good bookshops from 6 May 2022.