Don't turn up then discover poor Rover doesn't get a stretch of the legs too, he's the one who needs it the most. Check out the Facilities tab for Dog-Friendly Pitstops, but here's a shortlist for those travelling through/in Yorkshire...
Clifton Lane
Rotherham
South Yorkshire
England
West Bretton
Wakefield
Yorkshire
England
Swinithwaite
Leyburn
North Yorkshire
England
The Drewton Estate
South Cave
Near Brough
East Yorkshire
England
Home Farm
East Rounton
North Yorkshire
England