We love the North Yorkshire Coast and have stayed in the lovely village of Staithes on many an occasion. The cottages we use are here
http://www.staithescottages.com/
Maureen, the lady who runs them is really nice and lives in the village - shangri la is a lovely cottage right in the harbour and has parking and sea views from all windows. The Kessen Bowl is also highly recommended, is on the high street above the shop (owned by Maureen and her hubby Maurice) - you canot park in Staithes unless it comes with the cottage but you can use the car park (private) at the top of the hill, it's fully secure and the owners live in the house adjoining the site - not very expensive either - you can get the number for it from Maureen.
You can take dogs in most of the cottages and your comfort is not compromised just because you have dogs, the furniture in them is beautiful and the cottages are spotless.
The only reason we don't stay in them now is that we have a touring caravan but we still go and stay in the area at Hinderwell and Sandsend. Another plus about this coast is that they are dog friendly and dogs can go on the beaches even in the summer - apart from the main beach in Whitby - but they can use the harbour beach in Whitby all year round.
Hope this helps if you need further info let me know.
Love Michelle X