YOU SAID:

I walked the dog during the afternoon

INTO JAPANESE

午後に犬を散歩させた

BACK INTO ENGLISH

I walked my dog in the afternoon

INTO JAPANESE

午後に犬を散歩させました

BACK INTO ENGLISH

I took my dog for a walk in the afternoon

INTO JAPANESE

午後に犬を散歩に連れて行った

BACK INTO ENGLISH

I took my dog for a walk in the afternoon