The Best Walks in Yorkshire

Yorkshire is my favorite place on earth, and somewhere that I’m lucky enough to call my permanent home. I have explored so much of this area during my 6+ years here – I know Yorkshire like the back of my hand. I’ve done a lot of hiking over the years – whether it’s exploring the North York Moors or Yorkshire Dales National Parks, or lesser-known areas like the Howardian Hills AONB and the Yorkshire Wolds. Many of my favorite hikes I’ve done multiple times, or I do regularly every year or season.

If you’re planning on any of these walks in Yorkshire, I definitely recommend the OS Maps app. I use this app on every single hike I go on in the UK! It’s been the best money I’ve invested in my outdoor adventures to date. This post has been a long time coming, but I’ve worked really hard to narrow it down into a comprehensive guide. Here you go: the absolute BEST walks in Yorkshire!

Table of Contents

The Best Walks in Yorkshire: Less than 3 Miles

Roseberry Topping

Nicknamed the Yorkshire Matterhorn, Roseberry Topping is an iconic hill on the edge of the North York Moors National Park. At 320 meters high, there are wonderful views over the surrounding area from the top. The hike up to the summit from the car park is a short one, but it is steep. You can do a simple out-and-back, returning the same way you came. If you’re after a longer hike, I recommend hiking along Newton Moor and the Captain Cook Monument.

Distance: 1.7 miles

Time: 45 minutes to 1 hour

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Start/Finish: Roseberry Topping car park (charge)

York City Walls

This walk is actually located right in the middle of a city. But have you even visited York if you haven’t walked the city walls? This is one of the best short walks in Yorkshire – and best of all, walking the city walls is completely free! Give yourself plenty of time to walk the entire circuit, as there are so many historic sites along the way. If you’re short on time and can’t do the entire wall walk, the best section is from Bootham Bar to Monkgate Bar – the views of York Minster are incredible.

Distance: 2 miles

Time: 1.5-2 hours

Start/Finish: York Train Station (or alternative parking around the city, nearly all chargeable)

Sutton Bank and the Kilburn White Horse

Sutton Bank was named the finest view in England by James Herriot – you’ll have to see it for yourself to decide. This is a short walk (that can be done as a loop) along Sutton Bank and the Kilburn White Horse. This rock formation was created in 1857 – you get a great view of it from the A170 road and the village of Kilburn itself! This is one of the best sunset spots in Yorkshire.

Distance: 3 miles

Time: 1.5 hours

Start/Finish: Sutton Bank (charge) or the White Horse car park (free)

The Best Walks in Yorkshire: 3 to 5 Miles

Hole of Horcum

This is my favorite walk in Yorkshire, in Britain, and in the entire world. I’ve done it 15-20 times now, in every season, and it never gets old. The best time of year to do this hike is at the end of August, when the purple heather blooms and covers the moors in a blanket of purple. The hole was formed by spring-sapping – the water running down the sides caused erosion and the hole as we know it. You can start the walk from Saltergate car park on the A169, but I prefer to start and park in Levisham. That way, you get to finish at the pub!

Distance: 5 miles

Time: 2-2.5 hours

Start/Finish: Saltergate car park (charge) or Levisham (free street parking)

Ilkley Moor

Another great Yorkshire hike to do when the heather is in bloom is Ilkley Moor. Start at the Cow and Calf, admiring these huge rock formations. Then head out into the moors to see the Twelve Apostles Stone Circle. Come back in a loop if you like

Distance: 3.5-4 miles

Time: 1.5-2 hours

Start/Finish: Cow and Calf Rocks (free parking)

Thornton-le-Dale and Dalby Forest

This is a short loop, starting from the charming village of Thornton-le-Dale in the North York Moors. The best thing to see is the beautiful Beck Isle Cottage on the beck with its thatched roof. Then follow the road past the bowls club and towards Ellerburn. Head into Dalby Forest, and cross the beck, retracing your steps on the other side of the water past the trout farm. This tends to be a quiet and peaceful little walk – you can extend it further into Dalby Forest if you like!

Distance: 5 miles

Time: 2-2.5 hours

Start/Finish: Thornton-le-Dale car park (charge), or some free street parking

Ingleton Waterfalls Trail

Located in the Yorkshire Dales National Park, this is one of the most popular walks in the area. The Ingleton Waterfalls Trail is a circular loop, starting from the village of Ingleton, which takes in several beautiful waterfalls in the area. My favorite of the falls is Thornton Force, which drops dramatically into the pool at the bottom. But there are lots of waterfalls to enjoy here, plus great views of the countryside!

Distance: 4.5 miles

Time: 2-3 hours

Start/Finish: Ingleton Waterfalls car park (charge for parking included in trail access fee)

Kirkham Priory and the River Derwent

This is one of the most underrated walks in Yorkshire, located in the Howardian Hills AONB. Start at the ruins of Kirkham Priory – which is cared for by English Heritage – and head into the woods. Coming out in the fields, you’ll walk along a quiet country lane before crossing the train tracks and getting onto the riverside footpath. The path follows the River Derwent back to the priory. This is just a short drive from where I live in York – perfect for an after-work walk on a long summer night!

Distance: 5 miles

Time: 2.5 hours

Start/Finish: Kirkham Priory car park (free)

Hawes and Hardraw Force

See the best of Wensleydale on this short loop from Hawes to Hardraw Force. Head out of the town on the Pennine Way to Hardraw Force – the highest single-drop waterfall (above ground, Gaping Gill in the Yorkshire Dales is the highest but it’s below ground!) in England. The waterfall is on private land, so there is an admission fee of £4 per adult to enter and see the waterfall. Head out up and over the fields to Simonstone Hotel and Sedbusk village, where you take the footpaths back to Hawes.

Distance: 4 miles

Time: 2-2.5 hours

Start/Finish: Hawes (charge for national park car park)

The Best Walks in Yorkshire: 5 to 8 Miles

Whitby to Robin Hood’s Bay

Having walked all 72 miles of the Yorkshire Coast, I like to think I’m qualified to say that the section between Whitby and Robin Hood’s Bay is one of the best. You can see two beautiful places on the Yorkshire Coast: Whitby with its iconic whalebone arch, 199 Steps, and abbey ruins, and Robin Hood’s Bay with its pretty cobblestone streets and charming cottages. The walk along the coast is easy to navigate, as it follows the Cleveland Way (which is well-signposted). Reward yourself with a pint at the Bay Hotel at the end!

Distance: 6.5 miles

Time: 3.5 hours

Start/Finish: Whitby/Robin Hood’s Bay – take X93 bus back to Whitby at the end

Flamborough Head

Flamborough Head is another one of the best spots on the Yorkshire Coast, in the East Riding of Yorkshire. Check out the white chalky cliffs at Flamborough Head and the Drinking Dinosaur rock formation, before following the coast north past Thornwick Bay and North Landing. Cut through the village of Flamborough to South Landing, and return along the coast.

Distance: 8 miles

Time: 4-5 hours

Start/Finish: Flamborough Head lighthouse car park (charge)

Burnsall to Grassington and Hebden

I’ve done a shorter section of this hike several times (Grassington to Hebden), but if you have the time I recommend starting in Burnsall. You get to see another pretty Wharfedale village, before walking along the River Wharfe to Grassington and Linton Falls. Head through Grassington and out via High Lane to Hebden, before walking back to the river and swing bridge. End your walk with a pint at the Red Lion in Burnsall!

Distance: 7 miles

Time: 3.5-4 hours

Start/Finish: Burnsall car parks (charge)

Goathland and Grosmont

Goathland to Grosmont is a classic Yorkshire hike, easily done as a loop. If you want a shorter hike, you can do this one-way and take the North Yorkshire Moors Railway steam train back to Goathland! The hike follows the rail trail from Goathland to Grosmont, then comes back through woodland and fields. I highly recommend a detour to Beck Hole and Mallyan Spout!

Distance: 8 miles

Time: 4 hours

Start/Finish: Goathland car park (charge)

Chop Gate and the Wainstones

A lesser-known hike in the North York Moors, but a great one if you’re after quiet trails. Start in the sleepy village of Chop Gate before heading up over Cold Moor to intersect with the Cleveland Way. There are great views over to Roseberry Topping here! Explore the Wainstones, a big rock formation, before heading up Urra Moor – this is the highest point in the North York Moors National Park.

Distance: 8 miles

Time: 4.5 hours

Start/Finish: Chop Gate village car park (charge, according to the website – it’s only ever been by donation when I’ve visited)

Osmotherley to Cod Beck Reservoir (via the Cleveland Way)

This hike can be done as a loop, starting from the lovely village of Osmotherley. Head out of the village onto the Cleveland Way, passing Lady’s Chapel as you go. You’ll see beautiful views of the North York Moors here (including Roseberry Topping in the distance), before heading back towards Cod Beck Reservoir. This is a very busy spot (parking is notoriously difficult here), but you can do a short stroll of the reservoir. Then head along the road back to Osmotherley.

Distance: 6 miles

Time: 2.5-3 hours

Start/Finish: Osmotherley village (free street parking)

Thixendale

The hike around Thixendale is what made me fall in love with the Yorkshire Wolds. This is a blissfully undiscovered area, full of valleys and fields. If you’re after solitude, head to the Yorkshire Wolds – even on a sunny summer weekend, I usually see only a few people. The loop heads through Thixen Dale and Milham Dale to Kirkby Underdale, before joining with the Yorkshire Wolds Way back to Thixendale.

Distance: 8 miles

Time: 3.5-4 hours

Start/Finish: Thixendale (free street parking)

Helmsley and Rievaulx

Helmsley to Rievaulx is a classic Yorkshire hike. Starting in the pretty town of Helmsley in the North York Moors, follow the Cleveland Way to Rievaulx. Here, you can see the magnificent ruins of Rievaulx Abbey – it’s operated by English Heritage, so I recommend joining as a member. You can extend the walk around the village a bit, before heading back to Helmsley.

Distance: 6.5-8 miles

Time: 3-4 hours

Start/Finish: Helmsley (charge)

Aysgarth Falls and Castle Bolton

This is a great option if you want to explore some of the popular sights of Wensleydale! You can do the hike as a loop, starting in either Aysgarth Falls or Bolton Castle (which is in the village of Castle Bolton – yes, it’s confusing!). I recommend starting at Bolton Castle – the castle dates back to the 14th century and is certainly worthy of a visit! – before hiking to Carperby. From here, it’s only a short stroll to Aysgarth Falls – make sure to see both the Upper, Middle, and Lower Falls! Then it’s back through the rolling green fields to Castle Bolton. This is a great walk in June, when the wildflowers are in bloom around Castle Bolton.

Distance: 6.5 miles

Time: 3-4 hours

Start/Finish: Aysgarth Falls (charge) or Bolton Castle (charge)

Rosedale Abbey

Explore Yorkshire’s mining history on this fantastic loop around Rosedale. You’ll pass quiet farms with great valley views as you leave Rosedale Abbey village. Then head up to join the path on the old railway track. You can see the ironstone mines, huge kilns, and cottage ruins nestled into the valley, before heading back to the village via fields and woodland.

Distance: 7.5 miles

Time: 3.5 hours

Start/Finish: Rosedale Abbey (free street parking)

Hebden Bridge, Heptonstall, and Hardcastle Crags

For an epic day out in West Yorkshire, head to Hebden Bridge. This vibrant town is full of independent shops, galleries, cafes, restaurants, and pubs. But take the steep hike up to Heptonstall, and you’ll be rewarded with a charming village full of cobblestone streets and stone cottages. Make sure to see the ruins of St. Thomas a Becket Church, which dates back to the 1260s. From Heptonstall, head to Hardcastle Crags – there are a number of trails here! I chose a simple one, walking to Gibson Mill and back. Follow the beck back to Hebden Bridge.

Distance: 7 miles

Time: 3-4 hours

Start/Finish: Hebden Bridge (charge)

Haworth and Top Withens

Literary fans can’t miss a visit to Haworth in Yorkshire – home of the famous Brontë sisters. While the village is beautiful (and a trip to the Brontë Parsonage is a must), I recommend following in their actual footsteps with a walk up to Top Withens. After seeing the pretty waterfalls outside Haworth, you’ll hike up over the moors to the ruins of Top Withens. This is supposedly the inspiration for the location in Wuthering Heights. The return follows the Pennine Way to Stanbury and past Lower Laithe Reservoir to get back to Haworth.

Distance: 6 miles

Time: 3 hours

Start/Finish: Haworth (charge)

The Best Walks in Yorkshire: 8+ Miles

Malham

This is one of my favorite walks in Yorkshire. It’s one I’ve done many times, and somewhere I bring people whenever they come and visit me to show off the best of the Yorkshire Dales. This loop takes in Janet’s Foss, Gordale Scar, Malham Cove, and Malham Tarn. The view from the top of the cove over Malhamdale, with the rolling green fields, gray drystone walls, and white dots of sheep, is one of the best in the country!

Distance: 8.5 miles

Time: 3.5-4 hours

Start/Finish: Malham car park (charge)

Swaledale: Muker and Keld

Swaledale is my favorite dale in the Yorkshire Dales – there’s so much to see here. While there are loads of good walks you can do here (and pretty villages to visit!), my favorite is a loop from Muker. Walk through the Muker Meadows to the River Swale, and then follow the river to Keld. Head up to the ruins of Crackpot Hall, then up into the gully and over the top of Ivelet Moor. You can detour down to Gunnerside, but I prefer to take the easy walk down to Ivelet Bridge and back through the meadows to Muker. The best time of year to do this hike is in June, when the wildflowers are in bloom – the meadows are just beautiful!

Distance: 11 miles

Time: 5.5-6hours

Start/Finish: Muker (free laybys, car park has a charge)

Danby and Lealholm

Great Fryupdale is one of my favorite places in the North York Moors – and not just for the unique name! This is a beautiful area that doesn’t see the crowds of other hotspots around the Moors. Start at the national park center in Danby (stop at the Duke of Wellington pub in the village!) and follow the Esk Valley Walk to Danby Beacon, and down into Lealholm. You can do this hike one-way, and take the train from Lealholm back to Danby. Or, you can do it as a loop, which mainly follows a quiet country road back to Danby.

Distance: 8.5 miles

Time: 4 hours

Start/Finish: Danby national park center (charge)

Ingleborough via Clapham

Ingleborough is one of the highest peaks in Yorkshire, and the route up via Clapham is one of my top hikes in Yorkshire. Head past Ingleborough Cave and Gaping Gill, before the ascent up to Little Ingleborough and, finally, the summit of Ingleborough itself. If you’re bagging peaks, you can detour to Simon Fell, before following the Dales Highway past the limestone pavement to the Pennine Way. Then head back towards Clapham.

Distance: 12 miles

Time: 5.5-6 hours

Start/Finish: Clapham national park car park (charge) or street parking (free)

Great Whernside from Kettlewell

Upper Wharfedale is a beautiful part of the Yorkshire Dales. Great Whernside is one of the Wharfedale Three Peaks (Buckden Pike and Birks Fell are the other two), and the route up from Kettlewell is one of the best in Yorkshire. The ascent is a bit of a slog – although you do pass the Hag Dyke hostel, I’d love to stay here one day! After reaching the summit, carry on along the ridge before descending down to Starbotton Road. Follow the bridleway back down to Kettlewell – the view over Kettlewell and the green fields with drystone walls is one of my favorites in all of Yorkshire.

Distance: 8 miles

Time: 4-4.5 hours

Start/Finish: Kettlewell national park car park (charge) or car park just past the bridge (charge, but cheaper)

A Note on the Yorkshire Three Peaks Challenge

The Yorkshire Three Peaks is one of the most popular hiking challenges in the county. Having hiked all three peaks (Pen-y-Ghent, Whernside, and Ingleborough) separately, I really believe that they are all worthy of an individual walk. The countryside surrounding them is beautiful, and there’s no need to rush through it in a single, extremely long, day! So, this walk isn’t included on my list – take your time, and enjoy each peak!

The Best Walks in Yorkshire: Long-Distance

There are a number of long-distance trails throughout Yorkshire. This is a beautiful way to explore the county and enjoy the beautiful Yorkshire countryside!

The Foss Walk

This is a fantastic choice for a longer hike in Yorkshire. The Foss Way follows the River Foss from the Blue Bridge in central York, to the source of the river at Oulston Reservoir. It ends in the pretty Hambleton village of Easingwold. If you were really motivated, you could do this in one very long day. But I recommend splitting it over two days: York to Sheriff Hutton, and then Sheriff Hutton to Easingwold.

Distance: 25 miles

Time: 2 days

Start/Finish: York/Easingwold

Cleveland Way

This will (hopefully!) be the next long-distance hike I do in the UK! The Cleveland Way runs through the North York Moors, passing some of the best landmarks before hitting the coast. As I’ve walked all of the Yorkshire Coast from Saltburn-by-the-Sea to Bridlington, I’ve already done about half of the Cleveland Way.

Distance: 109 miles

Time: 7-10 days

Start/Finish: Helmsley/Filey

Wolds Way

A lesser-known National Trail, the Wolds Way goes through some of the most picturesque scenery in the Yorkshire Wolds. This trail is a great choice if you want a quiet and peaceful hike – the masses haven’t discovered the Yorkshire Wolds (yet?), so you’ll likely have a lot of the trails to yourself. I’d love to do this walk over a long weekend!

Distance: 79 miles

Time: 4-6 days

Start/Finish: Hessle/Filey

Coast to Coast

An epic trail across the country! The Coast to Coast is one of the most well-known long-distance hikes in the UK, and it’s recently been upgraded to National Trail status. After starting by the Irish Sea in St. Bees, it goes through incredible scenery and mountains in the Lake District. The trail then crosses over into North Yorkshire and going across the Dales and Moors. The finishing point is at the Bay Hotel in Robin Hood’s Bay on the North Sea. This is at the top of my hiking bucket list.

Distance: 192 miles

Time: 12-16 days

Start/Finish: St. Bees/Robin Hood’s Bay

Pennine Way

I’ve hiked so many different sections of the Pennine Way over the years, in so many different counties and national parks! The trail starts in Edale in the Peak District, heading north into the Yorkshire Dales, the North Pennines AONB, and Northumberland National Park. It ends in Kirk Yetholm, just across the border in Scotland. The scenery is meant to be epic, although the hiking and navigation can be a bit of a challenge! I’d love to do this hike someday.

Distance: 268 miles

Time: 16-20 days

Start/Finish: Edale/Kirk Yetholm

Planning Your Trip to Yorkshire

I did nearly all of these hikes as a daytrip from where I live in York. Although my love for the city makes me fairly biased, I do think it’s a great place to base yourself for a trip to Yorkshire. You can get to most places in the North York Moors, the Yorkshire Dales, the Yorkshire Wolds, and the Yorkshire Coast from York.

Planning on staying overnight in York? I’d recommend the following places:

Budget: Safestay York or the Fort Boutique Hostel
Mid-range: Hotel Indigo or Galtres Lodge
Luxury: The Grand

You can book hostels in York here, and check out hotels in York here!

You can search for other accommodation around Yorkshire using the map below.

Booking.com

I highly recommend getting a subscription for the OS Maps app if you’re planning on doing any of these Yorkshire walks. An annual subscription costs £28.99/year – they do offer monthly subscriptions for a lower price. You can plan routes and download hikes and areas to use offline. I use this app on every hike I do in the UK! If you’re planning on lots of outdoor adventures, definitely check out my outdoor gear guide – I have all of the hiking and camping gear I recommend here.

The best airport for visiting Yorkshire is Leeds Bradford, although Manchester airport usually has better flight options. I use Skyscanner to find the best flight deals. You do need a car to access a lot of these Yorkshire walks, although some are doable in the day with public transport. Read my guide on the best car-free walks from York if you’re relying on public transport! Considering travel insurance for your trip? World Nomads offers coverage for more than 150 adventure activities as well as emergency medical, lost luggage, trip cancellation and more. Interested in a tour in Yorkshire? Check out the options below!

Yorkshire is an incredible part of England, the UK, and the world. It is my favorite place and I’m so grateful it’s my forever home. There are truly so many excellent walks around Yorkshire, it’s impossible to go through them all. But if you’re planning a hiking trip around Yorkshire – or just looking for a walk for the day – these are all my top picks. I hope this post helps inspire your walks around Yorkshire!

Over to you – what are your favorite hikes in Yorkshire?!

You might also like my posts:

The Ultimate Yorkshire Guide: 99 Incredible Places to Visit in Yorkshire

21 of the BEST Places to Visit in the North York Moors

The BEST Places to Visit in the Yorkshire Dales

The Best Places to Visit on the Yorkshire Coast

The Best Views in Yorkshire

The Best Places to Visit in East Yorkshire

All of my Yorkshire posts!

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