What’s in this guide
By Sophie Maden
Welcome to Yorkshire, the UK’s largest county and home to three national parks: the Yorkshire Dales, North York Moors, and part of the Peak District. Visiting one of the UK’s greenest and most adventure-packed regions will have you clambering up Pen-Y-Ghent, peering into hidden caverns or skipping across stepping stones at Bolton Priory. Steam trains chug through rolling moors, secret tunnels lead to magical surprises, and coastal cliffs are alive with seabirds and crashing waves. Whether it’s wild walks, fossil hunting, or paddling in a rock pool, Yorkshire is packed with unforgettable family moments – where adventure starts young and never really stops.
Adventure Across Wild Landscapes
From the limestone cliffs of Malham Cove to the windswept heights of Pen-Y-Ghent, Yorkshire’s landscapes are made for explorers. Whether hiking through the Dales, spotting puffins at Bempton Cliffs, or wandering the eerie moorlands, there’s no shortage of dramatic scenery to discover.
A Land of Legends and Ruins
Step into history at Whitby Abbey, the inspiration for Dracula, or roam the medieval walls of York. Yorkshire’s castles, monasteries, and hidden caves hold centuries of stories waiting to be uncovered.
Unforgettable Stays Under the Stars
Sleep in a treehouse, a windmill, or a cosy glamping pod surrounded by rolling hills. With some of the UK’s best campsites and unique stays, Yorkshire makes every overnight an adventure of its own.
Malham Cove & Ingleton Waterfalls Trail: Two of Yorkshire’s most breathtaking natural wonders. Hike to the limestone amphitheatre of Malham Cove, then follow the Ingleton Waterfalls Trail for a spectacular series of cascades and rock pools.
Whitby Abbey & the Yorkshire Coast: Climb the famous 199 Steps to Whitby Abbey, the inspiration for Dracula, before exploring the rugged coastline, from the smugglers’ haven of Robin Hood’s Bay to the towering cliffs of Flamborough Head.
The Yorkshire Dales & Three Peaks: Take on Pen-Y-Ghent, one of Yorkshire’s Three Peaks, or opt for a gentler adventure through rolling dales, stone villages, and hidden caves. Whether hiking, cycling, or simply soaking in the views, the Dales never disappoint.
Getting there (and around)
By Car: Best for Exploring the Countryside
Yorkshire’s vast landscapes are best explored with a car, giving you the freedom to reach remote beauty spots like Malham Cove, the North York Moors, and Flamborough Head. Roads are well-maintained, but expect winding country lanes in rural areas.
By Bus: Budget-Friendly but Limited
Buses serve towns and villages, but services can be infrequent in rural areas. For Dales and Moors access, look for tourist-friendly routes like the DalesBus.
By Train: Scenic and Convenient
The rail network connects major towns and cities, including York, Leeds, and Sheffield. For a more scenic route, hop on a heritage steam train, like the North Yorkshire Moors Railway from Pickering to Whitby.
By Foot & Bike: Adventure at Your Pace
Many of Yorkshire’s best spots are reached on foot or by bike. The Yorkshire Dales and North York Moors offer endless hiking trails, while cycling routes like the Yorkshire Wolds and Tour de Yorkshire stages are perfect for two-wheeled adventures.
For a quick escape, 1–2 days is enough to explore a single region, whether wandering York’s historic streets or hiking Pen-Y-Ghent and Ingleton’s waterfalls. With 3–5 days, you can dive deeper, combining the Yorkshire Dales with coastal highlights like Whitby Abbey and Flamborough Head. A full week lets you experience the best of the Dales, Moors, and coastline at a relaxed pace, with time for heritage train rides, glamping stays, and hidden gems like Mother Shipton’s Cave and Settle’s flowerpot trail.
When to go
Yorkshire is a year-round destination, but each season offers a different experience. Spring (March–May) brings blooming wildflowers and quieter trails, perfect for exploring the Dales and Moors. Summer (June–August) offers long daylight hours for hiking, seaside adventures, and family-friendly festivals, though popular spots can get busy. Autumn (September–November) is ideal for crisp walks through golden woodlands and fewer crowds at iconic landmarks. Winter (December–February) brings cosy pub fires, festive markets, and the chance to see Yorkshire’s landscapes dusted in snows.
There’s so much to discover on an outdoors adventure trip to Yorkshire, so you’ll find plenty to pack into 24 hours here. Because Yorkshire is so vast and so full of outdoor attractions, we’ve chosen to focus on a stretch of North Yorkshire for this itinerary. Get ready to tick off peaks, waterfalls and a family-friendly introduction to the Yorkshire Dales National Park.
First, you’ll want to get to the village of Horton in Ribblesdale early to park up at the starting point of Pen-Y-Ghent – the smallest member of the Yorkshire Three Peaks Challenge. It can get busy with cars here, so arriving by train is also an option. Reaching the summit itself can be a little rocky and challenging for little legs (you’ll want to bring the carrier for smaller children), but there’s plenty to see even without reaching the top if you follow the circular route. Hull Pot – a collapsed cavern on the western side of the hill which you can view from the footpath – is always a big hit with kids! When you’re ready, head back down to your starting point – you’ll find a couple of welcoming tearooms in the village if a hot cup of tea is calling.
Next, head to Ingleton Waterfalls Trail towards the Lake District border: a challenging but rewarding trail (with an entry fee). Stick to the signposted route to admire the six waterfalls from a safe distance and allow plenty of time to stop and enjoy the spectacular scenery across the five-mile route. It’s worth picking up a trail sheet to keep the kids engaged. And take plenty of snacks!
A wander into Ingleton itself provides plenty of options for a bite to eat, including a traditional chippy which is very popular with walkers. Or you can pre-book a tour at White Scar Caves to carry on your adventures, though it’s best suited to older children.
Once you have your energy back, you can head to Aysgarth Falls for even more stunning waterfalls. Aysgarth Falls is a great family option because it’s easily accessed from the car park, and there’s a trail option to suit all energy levels. If you just want to tick off seeing the three waterfalls by walking along the river, this takes about 20 minutes. Or the circular route takes a couple of hours if you have more time (and energy) to spare and is reasonably straightforward with young children and a baby carrier. You can even concentrate on the most easily accessed Middle Fall for a simple visit.
Not far from here is Forbidden Corner, a popular family attraction with mazes and underground tunnels to explore, plus plenty of dining options too. You’ll need to pre-book if you plan to visit, and again, take a carrier as it’s not entirely buggy friendly.
To finish your day, you can take a drive to the nearby village of Richmond, which boasts its own castle, priory and falls, as well as a handful of cosy pubs and restaurants to relax and refuel in after a day filled with adventures.
If you can stay for longer, it’s a great opportunity to explore more of the stunning Yorkshire countryside, and witness how the landscape and attractions change as you cross from north to east.
Animal enthusiasts will love meeting the residents of Hesketh Farm Park in Bolton Abbey, and Playdale Farm Park near Scarborough is great for all weathers thanks to its indoor and outdoor play areas. In Bridlington, you can witness the thousands of seabirds that flock to RSPB Bempton Cliffs, including puffins, and you may even spot dolphins bobbing along the waters as you explore the clifftop trail and viewpoints.
There are many magnificent ruins to explore across the county, most offering access for families. Wander around the ruins of Bolton Priory, perched on the River Wharfe, with stepping stones you can cross alongside a buggy-friendly bridge with clear paths for a circular walk. A visit to nearby Skipton Castle is a must (entry fee applies), and the woodlands behind are another great option for a buggy-friendly family walk.
The gothic ruins of Whitby Abbey in East Yorkshire offer spectacular sea views to welcome you to the coast. While the Abbey area is buggy friendly, the route down to the seafront and harbour is via the aptly named 199 Steps. You’ll want to bring your carrier if you plan to tackle this with the smallest members of the family.
And of course, there’s York! Even a wander around the shops is an education here, with medieval shopping street The Shambles to explore. If a stop at one of the museums is on your list, you’re spoilt for choice. The Jorvik Centre gives kids an interactive view of Viking York, or you can explore York Castle and Museum and the York City Walls.
For railway (and scenery) enthusiasts, Yorkshire has several heritage train lines which are a charming way to explore the vast landscape. Hop on a short service from Embsay & Bolton Abbey steam Railway to Skipton. Or take the scenic route from Pickering to Whitby aboard the North Yorkshire Moors Railway.
There’s so much still to explore in the Yorkshire Dales National Park, including one of its main stars, Malham Cove. If you’ve brought a buggy, there’s an easier circular walk from the visitor centre to the bottom of the cove, though the steps beyond can be slippery and best suited to older children or carriers.
Over in the North York Moors National Park you’ll find the stunning grounds of Castle Howard, complete with house, gardens and an adventure playground to explore. Or head to Sutton Bank National Park Centre on the edge of the Moors for bird-watching opportunities or the chance to visit the famed Kilburn White Horse.
From caves to clifftops and everything in-between, wandering feet will find plenty to discover in Yorkshire. Mother Shipton’s Cave in Knaresborough is wonderful for little explorers. You’ll want to leave the pushchair at home for this one, as its magical Petrifying Well and Cave are accessed via three sets of reasonably steep steps. From Mother Shipton’s you can pick up the circular walk around the River Nidd to see Nidd Gorge and the imposing Nidd Viaduct – which you’ll definitely want your camera for.
Or take a cliffside jaunt along Flamborough Head’s coast path to take in views of Flamborough Lighthouse and the pretty cove beach at North Landing. If the tide is out, you can brave the steep incline to arrive onto the beach, where you’ll be rewarded with rock pool heaven.
For beach days, you’re spoilt for choice. Take a lovely family-friendly circular walk around Scarborough Castle, with the option to stop off at the bustling seafront and harbour. Nearby Filey offers sloped access to its sands and the chance to hunt for fossils, with cafes and refreshments on-hand close by. And beautiful Robin Hood’s Bay is a pretty, cobbled village with a lovely sandy beach and incredible bay views.
Check out our favorite spots on the Canvas and Cub map
Humble Bee Farm:
A welcoming, family-friendly farm stay offering glamping and camping in a scenic rural setting, with farm animals and countryside walks.
The Hideaway at Baxby Manor:
A tranquil, eco-conscious campsite set in historic woodlands, perfect for a peaceful escape with a touch of off-grid charm.
Catgill Farm:
A picturesque campsite with stunning views, featuring glamping pods and spacious pitches, ideal for adventure-loving families near Bolton Abbey.
Camp Katur:
A unique, adventure-filled glamping retreat set in a sprawling woodland estate, offering a range of quirky accommodations and outdoor experiences.
Windmill Retreats:
A peaceful, eco-friendly escape in the Yorkshire countryside, perfect for those seeking luxury glamping with stunning rural views.
Jollydays Glamping:
A charming woodland retreat combining comfort and nature, offering stylish safari tents and a true back-to-nature experience.
Spring Espresso (York):
A local favourite with expertly brewed coffee and a cosy atmosphere, perfect for a break after exploring York’s historic streets.
Baltzersen’s (Harrogate):
Scandinavian-inspired café serving speciality coffee and homemade treats, ideal for a pre-hike fuel-up.
Laynes Espresso (Leeds):
One of Yorkshire’s best speciality coffee shops, known for smooth flat whites and a great brunch menu.
The Bothy (Robin Hood’s Bay):
A charming café by the coast, offering excellent coffee with stunning sea views and fresh pastries.
Three’s a Crowd (Skipton):
A relaxed spot serving top-quality coffee and cakes, perfect for refuelling after exploring Skipton Castle and Woods.
The Pancake House (Pateley Bridge):
A dream for kids with sweet and savoury pancake options, plus a cosy, welcoming atmosphere in the heart of Nidderdale.
Billy Bob’s Parlour (Near Skipton):
An American-style diner with epic milkshakes, burgers, and an outdoor play area, making it a hit with families.
The Star Inn the Harbour (Whitby):
Fresh seafood and classic British dishes with a kids’ menu, plus harbour views perfect for watching the boats go by.
Fodder (Harrogate):
A farm shop café serving locally sourced meals with plenty of kid-friendly options and space to roam outside.
The Fossgate Social (York):
A relaxed, family-friendly café-bar with great brunch options and a laid-back vibe, ideal for a city pit stop.
From rugged landscapes to historic landmarks, hidden caves to windswept coastlines, Yorkshire is a playground for adventure. Whether you’re scaling peaks, exploring medieval ruins, spotting wildlife, or soaking up the charm of its villages, this county delivers unforgettable experiences in every season. With unique stays, family-friendly eateries, and a packed calendar of festivals, there’s always something new to discover. However long you stay, Yorkshire guarantees breathtaking scenery, rich history, and endless opportunities for exploration—so lace up your boots and start your adventure.
