The palatial country house, the iconic lake and the familiar jumps formed the unmistakable backdrop for a sporting event at Badminton Park on Sunday.

But one thing was missing. There was not a horse in sight.

One of the world’s best known eventing venues was the scene of a horseless race in which nearly 400 runners, joggers and canicrossers – runners with dogs – lined up at the Duke of Beaufort’s 52,000-acre estate.

The 31st Badminton Horseless Team Event was a big success, according Nigel Walker, president of the organising body, the Rotary Club of the South Cotswolds.

“It was a beautiful day and we had a good turn-out of serious runners and fun runners,” he said.

“What’s really special about this event is that competitors get the chance to tackle some of these easily recognisable jumps and also cross part of the lake, which is so well known.

“It can be a tricky course, but during the 16 years that I’ve been involved there has only been one sprained ankle.”

Mr Walker said the canicross event saw competitors running with as many as three dogs, with the hounds often pulling along the two-legged competitors.

Participants were given the opportunity to test themselves on one of three courses, covering a choice of five, nine or 13 miles.

While the horseless romp attracted numerous fun runners, including many raising funds for charity, it was also a big day for club athletes.

The West Wiltshire-based Avon Valley Runners won the men’s five-mile event, ahead of Stroud AC.

The club also triumphed in the women’s five-miler, finishing in front of second-placed Luckington Ladies.

The Avon Valley men’s team also won the nine-mile race for the third time in four years, after holding off a strong challenge from Chepstow Harriers and Dursley Running Club.