Heber Farm, Buckden - just a farmer's field or three, nice pub in the village for food that allows dogs, fantastic walking. Another pub less than a mile away and a cafe type affair behind the village shop.
I spent most of my twenties there (not camping) and went back last year for the first time in 16 years.
Nayburn Lock see reviews, good facilities, the best dog friendly pub just up the road, nice walks from the site and not far from York, bus service from just outside site.
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HAPPY DAYS
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Plenty of places near and around Pocklington N Yorkshire
Fangfoss Park caravans &tents has own dog walk about 1/2 mile long.
Turn left or right out of gate to dog friendly pubs about mile &1/4 one way about 1mile other way also have doggy drink bowls and good grub for you
Plenty of footpaths round about for walkies dog must be on lead all past dog friendly pubs and grub
Can walk from site to top of Garroby hill with out going on major road through some nice villages.
Also Middleton Woods very popular with rambling dog walkers. just google area see footpath ETC
Not sure about dogs, but Old Station Holiday Park is a 15 minute walk from Masham which has a few pubs & 2 breweries. Prospect Farm in the village of Thornton le Dale has a couple of pubs.