Hi - you can get ideas for your holiday on the Enjoy England website.
Check out our Make the most of summer section:
http://www.enjoyengland.com/ideas/summer-ideas.aspx
If you're looking for things to do in the Yorkshire area, why not go on a walking holiday? It won't cost you a lot and there are loads of amazing footpaths where you can walk your dogs and admire the outstanding views:
http://www.enjoyengland.com/ideas/rural-escapes/walking-and-cycling/walking-in-england.aspx
You can find pet friendly, caravan accommodation from as little as £9 a night:
http://search.enjoyengland.com/en-GB/SearchResults/Default.aspx?contentID&IndustryType=1&Location=Yorkshire&Latitude=54&Longitude=-1.5&Radius=3&Adults=1&IndustrySubType=HolidayParks&IsSearchFormAccommodation=True&sort=2&Rating&PropertySubType&Award&Sbly&WelSch=VBPF&Facility
You might want to consider staying in self catering accommodation. You'd save money on eating in, rather than out at bars and restaurants. There are properties that welcome pets from £150 for the whole week:
http://search.enjoyengland.com/en-GB/SearchResults/Default.aspx?contentID&IndustryType=9&Location=Yorkshire&Latitude=54&Longitude=-1.5&Radius=3&Adults=1&IsSearchFormAccommodation=True&Rating&PropertySubType=1&Award&Sbly&WelSch=VBPF&Facility,[object HTMLDivElement]&sort=2
Ingleton waterfalls in North Yorkshire looks a nice place to visit. There are several holiday parks nearby and loads of other attraction to keep you entertained when your feet get tired:
http://www.ingletonwaterfallswalk.co.uk/
http://search.enjoyengland.com/en-GB/SearchResults/Default.aspx?contentID&IndustryType=13&Location=Ingleton%2c+North+Yorkshire&Latitude=54.15421&Longitude=-2.47004&Radius=10&IsSearchFormAccommodation=False
For places to stay near town, see:
http://search.enjoyengland.com/en-GB/SearchResults/Default.aspx?contentID&IndustryType=1&Location=Ingleton%2c+North+Yorkshire&Latitude=54.15421&Longitude=-2.47004&Radius=10&Adults=2&IndustrySubType=HolidayParks&IsSearchFormAccommodation=True&sort=2
http://www.parkfoot.co.uk/about.html
If you want more inspiration, take a look at what other users of Enjoy England have written about their best days out around the country:
http://www.enjoyengland.com/your-england/surveys/best-day-list.aspx
Enjoy your holiday.