Exmouth – Stuart line cruises
https://www.stuartlinecruises.co.uk/timetable/embed/#?secret=51YOqIQ2xp#?secret=uifeE34cIk
Most of the cruises are dog friendly and there are a wide range from short ones up the estuary to longer ones along the coast.

Sidmouth Donkey Sanctuary, EX10 0NU
https://www.thedonkeysanctuary.org.uk/visit-us/sidmouth
Totally dog friendly with plenty of room to walk around plus a great cafe. Entrance is free.

Woodbury Common
There are lots of car parks along the common where you can take dogs for a walk and we are only just beginning to explore them:
Estuary view, EX5 1EA
Good car park. Lovely walk along a path to a seat overlooking estuary. Lots of other paths that you can take for a longer walk.