In general, yes, dogs are allowed on walks.
However, not all walks are suitable for dogs, and walk leaders generally don't indicate whether a walk is dog-friendly or not, so it's probably best to contact the walk leader and ask if the walk is appropriate for dogs.
If you do bring your dog on a walk, remember that:
- You are responsible for your dog on the walk.
- You are responsible for keeping your dog on a lead on the walk when near livestock. Note that farmers are allowed to kill dogs that are threatening their animals.
- You are responsible for clearing up after your dog.
- Not everybody on the walk will be comfortable with dogs, so make sure you keep the dog under control.