In England and Wales a public footpath is a path on which the public have a legally protected right to travel on foot. Most footpaths in the countryside are probably hundreds of years old. The majority of footpaths are shown on Ordnance Survey 1:25,000 and 1:50,000 maps.
Herefordshire Council (like all County Councils) are legally required to provide the “Highways and public rights of way Map” for their County (the Definitive Map). This is now online and you can find this by clicking here.
All you need to do is enter a Postcode in the search box and then select it from the pull-down list. The map will go to that location. You can zoom in and out, and even reposition the map by clicking and holding the left mouse button whilst dragging the map around, before letting go on that location.
Public Footpaths are shown as pink dashed lines (Public bridleways as green ones).
Definitive maps explained
The Ramblers, (formally the Ramblers Association), explain the Definitive map here.