Haarlem

The grand central square, dominated by the Gothic Grote Sint-Bavokerk (Frans Hals's tomb, the 1766 Müller organ), is lined with terraces that welcome leashed dogs. The church interior does not admit pets, but the cobbled square is perfect for a coffee stop.

The oldest public park in the Netherlands (1583) is a mature wood of shaded avenues a ten-minute walk from the centre. Leashed dogs are welcome and several lawns suit a long morning walk.

This wooded park north of the Spaarne has two fenced meadows where dogs can run off-leash, plus waterside trails. It is the weekend meeting point for Haarlem dog owners.

This rebuilt windmill on the banks of the Spaarne is Haarlem's postcard image. You cannot tour the interior with a dog, but the riverside towpath makes a pretty walk into the historic centre.

The North Sea resort is ten minutes away by NS train. The Zandvoort Zuid hondenstrand (dog beach) allows dogs year-round, off-leash along the full 9 km from October 1 to May 1. Water and sand in abundance.

The museum devoted to the Golden Age portrait master occupies a former 17th-century almshouse. Dogs are not admitted in the galleries, but the courtyard and surrounding lanes are worth a wander before or after your visit.