Concerned residents say more needs to be done by the council and other services to prevent grazing horses meandering on to a busy road.
Fiona Jane said she was driving home from work on Bessingby Hill when she was forced to swerve and mount a kerb when a horse galloped on to the road from Albert Chaplin Fields.
Although she was unharmed during the incident, residents are now calling for action at the site near Bridlington Hospital.
Fiona’s concern was echoed by 63-year-old Westfield resident Sue White, who said something needs to be done before the animals cause a serious accident.
She said: “There have been a lot of problems over the winter period, a lot of near misses.
“When it has been reported to the police they give it a case number and say they will look into, but no-one is doing anything about it.”
Now residents want to see fencing erected around the fields to prevent the horses from preventing in future.
A police spokesman said: “Officers have been called out on a number of occasions following reports horses have been loose in the road.
“Animals getting loose and entering the road after being tethered in this area have caused issues for a number of years.
“However police have no power to prevent animals being kept on the roadside.”
“The RSPCA and East Riding of Yorkshire Council has also been made aware of the issue and RSPCA welfare inspectors have previously visited the site.”
The land belongs to the East Riding of Yorkshire Council, who Mrs White accused of not listening to residents’ concerns.
But the East Riding of Yorkshire Council said although they have considered fencing off the field, they decided it would not be “viable” to do so.
A spokesman added: ““The land north of Woldgate and west of the A614 is registered to East Riding of Yorkshire Council and is known locally as Albert Chaplin Fields.
“Instead, the council has contacted the owners of the horses to ensure that they look after and care for their animals.
“The highways engineer for the Bridlington area has been made aware of a small number of incidents of horses being tethered on or near to the highway and is monitoring the situation. Should the horses prove to be a danger to highway users then the council will consider what action can be taken.”