Short answer: it depends on your dog's breed, age, and health. Some breeds need a minimum of one to two hours a day, and working breeds need more. A growing puppy and a senior dog both need less than a fit adult.
PDSA lists the main factors: breed, age, and health. Puppies should start exercise slowly to protect growing joints. Seniors often need a little less. A dog who is unwell or recovering may need rest, so follow your vet's advice. Build fitness gradually if you want to start something new like running or hiking. For more on this, see My dog stops to sniff every few steps. Is that still a real walk.
Dogs also need to use their noses and brains. Sniffing, searching for food, and simple games count. PDSA notes that puzzle feeders, snuffle mats, and brain games help dogs who are getting less physical exercise than usual, and are especially useful for breeds that need more mental stimulation.
A calm walk where your dog is allowed to sniff gives them something a fast march does not. Also notice what happens after: some dogs are settled after a sniffy walk and wired after a long game of fetch.
Your dog enjoys the outing, comes home, eats, drinks, and settles. If your dog is still pacing or pestering you in the evening after a long walk, more distance is not always the fix. Try adding something for the brain, and give them a calm place to rest.
In hot weather, walk in the cooler hours and carry water. If your dog tires quickly, limps, coughs, or has trouble breathing, ask your vet before adding more.
If you are unsure what suits your dog, ask your vet. If your dog never seems to settle, no matter how much they do, a qualified behavior professional can help work out why.
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