People from Ryhall organised the event to support the Three Counties Dog Rescue centre in Bourne.
"We were very pleased to have fine weather," said organiser Rachel Miller.
"We had about a dozen dogs and 16 people doing a couple of miles."
Now Rachel, of St John's Close, Ryhall, and her dog, Blyde, are aiming to support the charity further with another walk in Stamford.
Three Counties Dog Rescue Society was founded to serve Hampshire, Surrey and Berkshire but shifted to Bourne where the charity cares for and rehomes dogs from Lincolnshire, Rutland and Leicestershire, as well as looking after animals from Northamptonshire and Cambridgeshire on a regular basis.
"The money will be used for vets fees and food for the 50 dogs we are looking after at the moment," said Mrs Gyll Mauchline, co-founder of the Society.
"We also desperately need people to help with fundraising, walking the dogs and to provide foster homes.
"The last six months have been extremely busy. People don't seem to think enough before they go and get a dog," she said.