Have you discovered the 'Magical Meander' at Heartwood Forest? It's a beautiful 1hr walk with amazing views and carved wooden animals to look out for along the way.
At 1.5 miles long and graded as "easy" it's perfect for little walkers. See the route map on the Heartwood Forest website. We visited in summer but in winter some of the grass tracks can become muddy so wellies will be needed!