The article discusses the design of a leg for a quadruped robot that may be used in varying and sandy terrains. The initial simulations were done using the quadruped model to understand the performance characteristics of the robot in varying terrains, especially to understand its stability. Later, to understand the dynamics of the interaction between the leg of the robot and the sand, simulations were conducted based on the deformation models of terrain to ascertain the torque requirements for the given pattern of joint actuation. Finally, the design of the leg of the robot considered these results. This is apart from the design of a wheel at the knee to enable wheeled locomotion in less challenging engineered terrains like paved roads. The detailed design parameters are also presented.