Also report to the council Dog Warden! If there's been trouble with these people and their dog before, they will know about it and the DW will be able to go round and have a stern chat, also liaise with police if necessary.

And police yes too, as it's assault.
Hope you get some feedback, what a horrible thing to experience, and I do feel for you.
Hope your dog is ok, sometimes it can upset dogs to see their owners getting aggro.

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