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Yes, check the deeds and boundary and right of way. Just because there was a hedge there before doesn't mean that they don't actually have right of way, it could be that they just chose to have a hedge there years ago because it was the neighbours right of way to lose iyswim.

If they don't have a right of way, then politely ask them to stop doing it and if that doesn't work, erect the fence.

We had something similar with our neighbours walking through our front garden. Our row of houses are semi-detached with 1 paving slab width infront of the houses and then lawns  then a small wall then the public path. There are no fences between the gardens and this is the precedent within the street. When we bought the house we checked that the 'paving slab pathway' isn't a right of way and it wasn't. When we moved in the neighbours who we are attached too used to allow their grandkids to walk/run infront of our window to get our other neighbours (who were not attached to). We politely asked them to stop walking in front of our window and they continued to do so. We then placed large planters infront of the window, it stopped them and they couldn't do anything about it. We had the planters for a year or 2 and now we haven't, they've just learnt or realised that it's our property and they can't walk on it if we don't want them too.