Brother Dusty-Feet by Rosemary Sutcliff

Along with his faithful dog Argos, eleven-year-old Hugh Copplestone decides to leave his Aunt and Uncle's house after one beating too many, and heads for Oxford to seek his fortune.

When he meets a group of strolling players along the way, Hugh joins them, becoming part of their acting troupe. A new life meeting jugglers, puppet players, quack doctors and ballard singers starts for Hugh as the Players travel the country, and, as one of the Dusty-Feet, Hugh also experiences the freedom and fellowship of life on the road.