Which beach to go to?

Not sure if this is the best place to put this?
But for the first time my OH, Cookie (our dog) and I are going away together for the weekend. We have always put this off as Cookie gets travel sick, but has been on day trips to the beach and loved it. So the thought of OH and I going to beach for a weekend without him seems very unfair. After all he doesn't seem to even remember the sickness and is always willing to jump into the car for any drive.
So we live near Huddersfield, and need to go some where dog friendly... We would like a nice hotel within walking distance or a short drive of the beach. Also been thinking about a caravan, but think a hotel may be cheaper, plus a cooked breakfast everyday would be very nice?
Any one got any recommendations?
We are thinking of Filey or Scarbough at the moment, and are going in May