Those who rant at cyclists for pavement riding tend not to rant at motorists committing the exact some offence. The offence was introduced in 1835. While all other parts of the 1835 Highway Act have been either amended or repealed, clause 72 remains in force. It’s a juicy one:
“If any person shall wilfully ride upon any footpath or causeway by the side of any road made or set apart for the use or accommodation of foot passengers; or shall wilfully lead or drive any horse, ass, sheep, mule, swine, or cattle or carriage of any description, or any truck or sledge, upon any such footpath or causeway; or shall tether any horse, ass, mule, swine, or cattle, on any highway, so as to suffer or permit the tethered animal to be thereon.”
The key phrase is “carriage of any description”. That is a cover-all that is still in force. Motor cars were classed as carriages in the 1903 Motor Car Act; bicycles were so classified in 1888.