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Like Tom said - you can only ride on a bridleway (marked with blue arrows). Riding on a footpath (yellow) could result in prosecution, however it's all down to the landowners descretion. If it's owned by an organisation such as the Woodlands Trust/Wildlife Trust etc. they'll normally just point out that you're on a footpath and could you stick to that route over there please. TBH though the only time I've known the Glos. Wildlife Trust (I volunteer for them) to take legal action was with a bloke who insisted on not using footpaths and got abusive when asked to use them...
Cheap and Reliable is not Fast. Cheap and Fast is not Reliable. Fast and Reliable is not Cheap!