βγάζω τον σκύλο βόλτα (vγάzo ton skýlo vólta)
* βγάζω (vγάzo): I take (out)
* τον (ton): the (masculine accusative - used before "σκύλο")
* σκύλο (skýlo): dog
* βόλτα (vólta): walk/stroll
You could also say:
περπατάω τον σκύλο (perpatáo ton skýlo)
* περπατάω (perpatáo): I walk
* τον (ton): the (masculine accusative)
* σκύλο (skýlo): dog
The first option is more common and natural-sounding.