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I too have been looking for a site close enough to walk to scarborough  but couldn't find one. We are booked into Browns at Cayton Bay for four nights at the beginning of October.  Not been before but according to their website there is a pub close by (which allows dogs up to a certain time),  you can walk to the beach in 10 minutes and some of the reviews say there is a coastal path to walk to Scarborough, don't know how long it takes though.

As the person above has said, Centenary Way at Filey is an easy walk to the town or beach and it's one of our favourite sites.

Cayton bay does indeed have beach access, but you need to be fairly fit to tackle the steep path and steps down to get to the sea, and its even tougher trying to get back up again, so not one for the less mobile or those with prams and buggies or very small children. That area of coastline is subject to serious erosion of the cliff face, to a point that they keep having to move the coastal road back inland every few years as more land is reclaimed by the sea. For this reason, maps are not always accurate in showing any foot paths in the area, and the best you can hope for is being able to walk into Scarbrough along parts of the old road that are left behind after the new duel roads were put in during the last five years.

The C&CC site is the nearest one you will get at Scarbrough for walking down to the seafront via Scalby mills (follow signs for the sealife centre) which will take you down to the beaches of the north bay and the concrete path that passes the bathing huts and links with the prominade along the North bay. There is a small pub at Scalby where I have seen people sitting out with dogs, but im not sure if they are allowed inside. Theres also a large pub and Crown Carvery branch right next door to the site, and although they dont allow dogs inside, there is ample outside space to sit and enjoy a meal weather permitting.

Once your in the North bay, theres lots of dog friendly beach space at low tide and a regular open topped bus into the South bay and town, but dogs are not allowed on the south bay beaches.

Julia