
Generally no, there weren't public footpaths before, often because historically nobody had really needed to cross that land! When footpaths first originated they were routes from one village to another for general access; recreational walking was unheard of as everybody was too busy making a living! So great tracts of moorland had no footpaths and were used for growing crops of some sort, whether sheep, or deer, or grouse etc.
Now people have so much mobility and leisure time they demand access to such places, quite forgetting that they now have the responsibility to ensure that they don't jeopardise the livelihood of the landowner but disturbing the animals and other wildlife.
:)