Barney the Boat Dog Runaway Horse! by Linda Newbery
Jim and Barney are in trouble. The boat's engine won't start and they've got to get to Jim's grandson's birthday party, so they get a big, strong horse named Puzzle to give them a tow. Barney and Puzzle become firm friends, with Puzzle trusting Barney to help him along the way. Although Jim finds Puzzle a bit of a handful, all goes well until the horse is frightened by some pigs and gallops away. It's up to Barney to find Puzzle and make sure they get to the birthday celebrations -