Stiles have been replaced by kissing gates or field gates to allow easier access for people with mobility problems.
Amey's public rights of way team carried out the restoration, with the co-operation of landowners, and it builds on the success of two other Miles Without Stiles walks in Cradley and Colwall.
Councillor John Jarvis, Herefordshire Council's cabinet member for environment and strategic housing, said: "This work is part of an improvement plan by Amey, on behalf of the council, to increase the usage and enjoyment of public rights of way and open green spaces around our county.
"We realise how important these walks are to the tourism industry in the county with many visitors coming to enjoy the county's beautiful scenery and this means they can do so more easily without having to negotiate stiles," he added.
The three-mile Titley Loop walk forms part of the Mortimer Trail, which has been described as one of the top three tranquil spots in the country and runs through the very heart of the ancient lands held by the Mortimer family.
It passes through areas rich in natural history and human heritage, inhabited by deer, otter, kingfisher, heron, buzzards and kites. Secret gems along the way include ruined castles, medieval battle sites, Iron Age hill forts, glorious views and dark woods.
A leaflet has also been produced which gives more information
about sights of interest along the route. These are available
at Tourist Information Centres or by calling Amey on 01432