This should be helpful!
Directly related to your question, see below (note cavaliers are short nosed breeds so that is one caution, as is their shorter legs on many dogs, and the fact that a given dog could be prone to either hip dysplasia or patella problems and long distance running especially on pavement could exacerbate these. So a full vet checkup is a good idea before starting jogging or any exercise regime. The other is that usually as with people you need to work up to any distance very slowly, over time, to develop stamina -- I'd think many weeks to go from one mile to even three would be needed):
Humans are better suited to jogging or running for long periods nonstop than are canines, who tend to engage in short, intense bursts of running with intermittent stops to sniff around, piddle and absorb the scenery.
Remember, dogs will usually try to keep up with their people just because it is their nature to do so. This can mask fatigue and overshadow signs that the dog is overdoing it. So be vigilant and do not push your dog too hard.
Keep your dog's breed in mind when planning your exercise routine. Small dogs with short legs usually don't need to ... or should not ...be walked or jogged as long as larger dogs.
Breeds with short noses may have trouble breathing when exercised vigorously. Short-snouters range from little pugs to bulldogs to boxers and many others.
And don't assume that racing breeds such as Greyhounds and whippets can run marathons. While they are built to run, they were not breed to run for long distances.
And for young pups and big breeds of any age, sustained jogging or running is too hard on their joints.