We'd walk our dogs once a day, no more or less really. Usually a total of about mile round trip. The street I live on is basically a large circle, so it's pretty convenient and it's away from busy traffic. The thing is though, I had three dogs and they didn't behave very well whenever we'd try to walk them together, so we usually took them each individually. Then throughout the day, we let them play in the yard (chained up), but they're mostly house dogs.
"Is there any running involved or just walking?" Um, there was running involved when one of them would get out of their collar ;-). But seriously though, they loved going for walks and all, but they would always get really excited over seeing other animals and other people, I always got nervous one of them would accidentally jump out in front of a car or something - so I always kept them close.