13 Best Places To Visit in Yorkshire (+map and insider tips)

Most Charming Towns in the Yorkshire Dales

Ingleton

Ingleton is a charming small town in Yorkshire on the southern edge of the Yorkshire Dales. 

Ingleton’s central location means the heart of the Yorkshire Dales National Park is a short, 30-minute drive away, and the Lake District and the Forest of Bowland can easily be visited as a day trip. 

Most visitors use Ingleton as a base for enjoying adventurous outdoor activities in the local rural area, such as cycling, climbing, hiking, and caving. Guided tours are available in Ingleton for these activities, and there are also plenty of self-guided activities.

One of Yorkshire's highest peaks, Ingleborough, lies on Ingleton’s doorstep and is a popular hiking route for visitors. Don a hard hat and explore underground at the nearby Yorkshire showcaves Ingleborough Cave or White Scar Cave, the largest show cave in England. Enjoy a seasonal swim in Ingleton’s delightful open-air heated pool or wander along the banks of the River Doe and River Greta to view Ingleton’s impressive, historic viaduct. Visitors can go climbing at the indoor climbing wall at Inglesport Outdoors Shop.

The highlight of Ingleton has to be the spectacular Ingleton Waterfalls Trail. This beautiful, privately owned 7-kilometre trail is a riverside woodland trail that passes seven pretty waterfalls on route. My favourite waterfall, Thornton Falls, is idyllic. The path is not technically challenging but unsuitable for wheelchairs or pushchairs, and sturdy footwear is recommended.

Top Tip:

After a long day walking, reward yourself with a sweet treat from the enticing Seasons Bakery or a relaxing drink at the quirky microbar, The Old Post Office.

Photo credit - Map Made Memories

Grassington

Grassington is a lovely, idyllic town in the Craven district. It is the perfect base for exploring the nearby Yorkshire Dales - Wharfedale and Nidderdale. Grassington is one of the best small villages in the Yorkshire Dales and is the ideal place to park and go for a walk. Many circular walking routes start in the area and lead you around the beautiful Yorkshire countryside.

One of the most charming walks from Grassington is the Grassington to Conistone walk. It leads up through the village to an old road and then returns on the Dales Way path. The walk is stunning, leading through endless fields and rivers and back over banks overlooking the surrounding countryside.

Discovering the Delights of Grassington

Once you have explored the surrounding countryside, you can return to the village and head to one of the many country pubs in Grassington for lunch or find a place to stay in Grassington for longer.

If pub lunches aren’t your style, you can visit a smaller cafe, tea room or the traditional fish and chip shop. The village is a great place to gather with friends for a weekend of fine food and even better views.

If you struggle to walk up hills, you may find reaching the fish and chip shop a struggle, but you can find more places to eat in the village's main square.

One of my favourite things about Grassington is the unique shops selling homemade products, from fresh produce to woollen items.

The charming cobblestone streets of Grassington create the stunning foreground to many beautiful pictures and is a perfect place to sit, paint, draw or enjoy the scenery. You may also spot some famous film scenes within the picturesque town from Wuthering Heights and Dolittle.

Grassington is a very authentic Yorkshire town and is a great place for visitors to stop and explore.

Photo credit - Inside Our Suitcase

Need A Place to Stay in Yorkshire? Check Out My Review of Stunning Yorkshire Accommodations to Book for a Road Trip

Malham

Malham should be at the top of your bucket list for a perfectly traditional Yorkshire town with a stunning surrounding landscape. 

You’ll find Malham tucked away in the south of the Yorkshire Dales National Park, nestled between rolling hills, rich meadows and towering limestone gorges. Though the town is tiny, you’ve got enough amenities for an enjoyable stay, with several campsites, B&Bs, pubs and food options. 

It’s as quintessential as you’ll get for the region, filled with friendly local grazing animals and picture-postcard views.

Outdoor Activities in Malham

For most, a trip to Malham is driven by a passion for exploring the surrounding hills - it’s got some of the best walking trails in the UK.

There are plenty of local trails through the national park, from beginner trails to multi-day epics.

And it’s not just hiking. Malham is also home to some of the UK’s most challenging and famous sport climbing routes.

The towering walls of Malham Cove attract climbers from around the world, and they are a marvel to behold. 

If you’re visiting, check out Janet’s Foss, a stunning waterfall and natural pool right in the town.

Another incredible natural wonder is Goredale Scar, an imposing limestone gorge with a powerful waterfall. For the adventurous, you can even scrabble up its face to the valley top!

Photo credit - Veggie Vagabonds

Most Beautiful Towns in North Yorkshire

Harrogate

The beautiful town of Harrogate is home to some of the best attractions in Yorkshire and is a firm favourite for visitors to North Yorkshire. The Victorian spa town of Harrogate is a good spot for shoppers, with a mix of independent and quirky shops alongside high-street chain stores.

Betty’s Cafe Tearooms is a destination in its own right and began its story in Harrogate in 1919. The cafe started by selling Yorkshire’s famous ‘Fat Rascal’ scones before evolving into Harrogate's must-visit attraction.

Harrogate is best known as a spa town for its Victorian Turkish Spa Baths, dating back to 1897 and fully restored to their former glory. Spend some time relaxing in the warm baths before indulging in a full-body massage - heaven!

Harrogate and its surrounding area are rich in historical sites, from medieval castles to stately homes, and not forgetting Fountains Abbey, Britain's best-preserved monastic abbey ruins, only a short drive away.

Of course, no visit is complete without a walk around the Valley Gardens Harrogate. The English Heritage Grade II Listed gardens sit alongside 17 acres of woodland, known as The Pinewoods.

With plenty of places to stay in Harrogate, you will be spoilt for choice. My favourite is Rudding Park Hotel and Spa for a truly indulgent stay.

Pateley Bridge

Pateley Bridge is a small market town in Nidderdale near Harrogate. It is just outside the Yorkshire Dales National Park and is so pretty you can't help but like it.

The town consists of one main road lined with several independent shops. The first is the oldest sweet shop in England, dating back to the 17th century. Follow the Pateley Bridge Heritage Trail to find some other fascinating locations in the town.

Walk from the car park to the top of the road, and you will come across Cocoa Joe's, the chocolate drinks specialist. I chose the origin of the chocolate I wanted it made from (Venezuela), which was delicious.

A walk through Pateley Bridge Park and along the river is a relaxing way to spend a while, or you can follow the hour-long Bewerley walking trail to Fishpond Wood.

And before you leave this charming town, grab a bite to eat at The Bridge Inn, located by the bridge and river.

Helmsley

Helmsley is one of the prettiest towns in Yorkshire and the only market town in the North York Moors National Park. Charming tea rooms, small independent shops, and boutique galleries surround the market square. Take time to stroll around and enjoy the views of the 900-year-old ruins of Helmsley Castle towering over the town.

Don’t miss Helmsley Walled Gardens; these are (in our opinion) the town's star attraction. Within the gardens, you’ll find yourself immersed in a kaleidoscope of floral colours against the backdrop of the castle ruins. They provide the best views of the castle by far, and if you only book one attraction in Helmsley, it should be the Walled Gardens.

The National Bird of Prey Centre in Helmsley provides another fantastic activity and is an excellent option for exploring with the family. They have two to three flight displays daily with different birds and an indoor area if the weather is bad.

Nearby, you’ll also find Rievaulx Abbey dating back to 1132. It remains one of the most complete of England’s abbey ruins. There is a popular scenic 7-mile circular walking route from Helmsley Castle to Rievaulx Abbey for keen walkers.

There are plenty of places to stay in Helmsley, which makes it the perfect base from which to explore the beautiful Yorkshire towns and countryside. Helmsley is also the start of the Cleveland Way National Trail, so numerous walks and hikes start from this point.

If you are staying in York, Helmsley should be on your list of things to do near York, as it is only a 40-minute drive away.

Knaresborough

Knaresborough is located only 4 miles from Harrogate and 17 miles from York. It is a historic, charming town with medieval characteristics.

The grand Knaresborough viaduct takes centre stage over the River Nidd and has become a landmark of Knaresborough today. The historic town has become increasingly popular because of the rowing boats with the 1851 viaduct and rocky gorge as a backdrop. 

Some of the best things to do in Knaresborough include visiting Knaresborough Castle, built in 1100 in the Norman period, learning at the museum, appreciating the Bebra Gardens, and exploring Knaresborough Square.

You can also walk along the riverside next to the River Nedd, admire the St John the Baptist Church, and explore the independent shops in the town.

One of the most popular activities is to hire a rowing boat and take pictures with the viaduct's arches. Remember that this activity is only open from March to October because of the great British weather. Luckily, the Knaresborough Visitor Centre has knowledgeable staff who can help you plan more activities (if you need them) and help you find suitable accommodation.  

A visit to Knaresborough is unforgettable, especially if you visit the 15th-century Mother Shipton Inn, where you can have delicious local food overlooking the River Nidd.

The pub has so much character that you can have a quintessentially British experience, and the staff are always helpful and accommodating.

Knaresborough is magical and undoubtedly one of the most beautiful towns in Yorkshire.

Richmond

Surrounded by the rolling beauty of the Yorkshire Dales, Richmond is an elegant market town and a must-see for anyone road-tripping in Yorkshire. This gem of a town in North Yorkshire was founded by the Normans in 1071, around the “riche-mont”, or strong hill, that gives the town its name.

First of the Richmonds!

Richmond in Yorkshire was the first location in the world to be given the place name Richmond, but many places have since followed!

The town is dominated by the huge Norman castle, which stands proudly on the skyline overlooking the River Swale. It celebrated its 950th anniversary in 2021. Richmond Castle, recognised as the best-preserved Norman castle in England, has a rich history and is a highlight of any visit to the town.

With its fabulous position in Swaledale, Richmond is often called “the gateway to the Dales”, and there is much to see and do in the town and local area.

Explore the Georgian and Victorian architecture around the lively cobbled marketplace before wandering along the banks of the Swale River to see the local waterfalls. If you fancy a longer walk, go east along the river for a mile to reach the pretty ruins of Easby Abbey, which dates from 1152.

Around the town, there are fabulous hiking and rambling routes through the Dales. Or head out with your camera for moody skies, isolated stone barns that characterise the area, and lush green patchwork fields.

Check out The Station, a gorgeous Victorian railway station that has been restored and is filled with local art and craft exhibits and heritage, an in-house cinema, and even an ice cream parlour. Try Mocha for the best hot chocolate in town!

Idyllic Towns in West Yorkshire

Haworth

Haworth is a beautiful village in West Yorkshire. Its cobbled main street, lined by pretty independent stores, is known by visitors as the home of the Bronte sisters, authors of Wuthering Heights. Its rugged and rough landscape inspired the novel and is now what makes it a magnet for walkers.

Haworth Village is unique for book lovers, as it is where Emily Bronte brought to life Cathy and Heathcliff, the lovers from Wuthering Heights. There are many things to do in Haworth, and the first is to visit the Bronte Parsonage Museum, which looks at the Bronte family's lives in the early 1900s. You may enjoy The Brontes, Wuthering Heights & Jane Eyre Tour, which will explore all the places connected to the sisters.

Haworth Railway Station is another great place to visit. It was the location for the iconic 1970s film The Railway Children. Watch the steam trains chugging past on their route through the Yorkshire countryside.  

There are plenty of charming places to stay in Haworth.

Stroll through Bronte Country

For walkers, there are plenty of chances to enjoy the landscape. Top Withens Walk is a popular Yorkshire walk that takes you out of Haworth along signposted pathways to the moorland that inspired the Brontes to write their epic novels. 

The Railway Children was also filmed in Haworth, and visitors can find a walking route map following locations from the film here.

Bronte Waterfall Walk is another charming walk that does not involve climbing up to Top Withens (I chose this as the easier option!).

He’s more myself than I am. Whatever our souls are made of, his and mine are the same

Emily bronte - Wuthering Heights

Hebden Bridge

Hebden Bridge is one of the liveliest artistic communities in Yorkshire, and there are plenty of things to do for a town with only 4,500 residents.

It is a beautiful old Yorkshire market town, lovingly referred to as the UK’s “lesbian capital” due to its LGBTQ+-friendly status since the 1970s. Hebden Bridge sits directly between Leeds and Manchester, making it the perfect place for a Northern day trip or weekend getaway.

Visitors to Hebden Bridge can enjoy a stroll in Calder Holmes Park, where, on sunny days, a cafe selling Northern Bloc ice cream (a Leeds favourite) is located.

Those looking for a gorgeous view over the town and more places to explore can walk up the hill to Heptonstall, a small charming village that seems to have remained unchanged in the last 200 years.

Hebden Bridge Arts Scene

Music fans should check out the Trades Club listings. This Hebden Bridge institution offers live music, reasonably priced drinks (unheard of for a gig venue), and friendly staff. Also, check out the Hebden Bridge Picture House. It is one of the UK's few one-screen Art Deco cinemas, showing the latest arthouse and independent releases.

Hebden Bridge has an incredible cafe scene. Mooch Cafe Bar, the Lovegrows Tearooms and The Art Cafe offer great coffee with a relaxed, friendly vibe. Those wanting a cosy sit-down meal can head to Aya Sophia or the Old Gate Bar & Restaurant for more traditional pub fare.

However, the jewel in Hebden Bridge’s crown is Vocation & Co. Brewery. Vocation’s beers are available nationwide, but it all started here in Hebden Bridge. Vocation's well-stocked bar will assure you of a good welcome, just like in the rest of the town.

Hebden Bridge has been voted as the "fourth funkiest town in the world", the best small market town in the UK, and "the greatest town in Europe".

Prettiest Towns on the East Coast of Yorkshire

Robin Hood's Bay

One of the most charming villages in Yorkshire is Robin Hood’s Bay on the Yorkshire coast, in the North York Moors National Park. If you are looking for a seaside getaway, this is the perfect place.

It has a fascinating history of smuggling. In its heyday in the 18th century, virtually everyone in the town was involved in the smuggling industry.

With the cutest cottages and cobblestone roads, you can easily spend a day wandering in the narrow, winding streets. The town is divided into an upper part, where the central car park is, and a lower part, where most shops, pubs, and cute streets are located.

You can also visit the Robin Hood’s Bay Museum or the Old Coastguard Station (run by the National Trust).

Stretch your legs on the short walk (approximately 1 mile) to Boggle Hole. If you prefer a longer walk, Whitby to Robin Hood’s Bay along the Cleveland Way (approximately 6-7 miles) is one of the best hikes in Yorkshire. The views over the coast are stunning! Walking one way and then travelling from Robin Hood’s Bay back to Whitby by bus is possible.

Robin Hood’s Bay is also the endpoint for the 182-mile multi-day coast-to-coast walk across the country. Whether you’re hiking to Robin Hood’s Bay or just wanting to relax, enjoy a pint with seaside views at the Bay Hotel in the lower part of the town.

Please check availability and rates for accommodation in Robin Hood's Bay.

Staithes

The seaside village of Staithes is a popular tourist destination in North Yorkshire and was once one of the largest fishing ports in the North East of England.

Staithes' charming 18th-century cottages and narrow cobbled streets are reminders of a bygone era in this sleepy village.

Staithes Harbour is as picturesque as any visitor could wish for, with colourful flat-bottomed fishing boats called "cobles" bobbing around on the water.

Fishing is still the primary industry in Staithes, so you must visit Cod and Lobster for a freshly caught fish meal. 

For nature lovers, explore the "Dinosaur Coast" and try fossil-hunting and pool-dipping.

Several popular coastal trails in Staithes allow walkers to explore the surrounding area with dramatic clifftop views. A popular route is Staithes to Port Mulgrave, a circular walk along The Cleveland Way.

The village of Staithes also has a fabulous claim to fame as where Captain Cook lived and worked and first realised his love of the sea.

Visitors can see a complete replica of the shop he worked in, and the adjoining museum will allow a glimpse into Cook's life before and during his voyages.

The old village of Staithes has some great places to stay, from charming cottages and B&Bs to the old police station called Peelers Rest!

Whitby

A round-up of the best towns in Yorkshire wouldn't be complete without a mention of the famous coastal town of Whitby, best known for Whitby Abbey, the ruins of a Benedictine monastery that looms over the town below. 

Run by English Heritage, Whitby Abbey inspired Bram Stoker’s Dracula. Take the 199 steps from the Abbey to the sea and follow in Dracula's footsteps, as detailed in the novel. Thanks to this connection with Dracula, the town has lots of Goth-related paraphernalia. Moreover, Whitby hosts the biggest Goth Weekend in Europe every year.

In addition to Whitby Abbey, the old town was a famous Victorian seaside resort. It was known for producing Jet jewellery (made from black Jet stone), which Queen Victoria made famous for mourning wear.

Whitby Beach is wide and sandy and one of the best beaches in Yorkshire.

In summer, the water attracts holidaymakers even though it won't match the waters of the Med in temperature! If you want to get on to the water rather than in it, you can take tourist boats to view the beach and harbour from a different perspective. 

Famous Maritime Connections

Before tourism, Whitby had a long maritime tradition. Famous explorer Captain James Cook, who discovered New Zealand and Australia, lived in nearby Staithes and learned his trade in Whitby. The whalebone arch on the hill opposite Whitby Abbey also attests to its importance in the whaling trade. Fishing in Whitby is still important to the local economy.

Whitby is also the UK's number one destination for lovers of the quintessential British seaside meal. Check out the best fish and chip shops in Whitby on your visit. You'll also find many quirky small restaurants and cafes alongside a few well-known fine dining establishments.

With so many things to see and do in Whitby, you may want to stay overnight, and Whitby has plenty of places to stay. We stayed in a pub/hotel called The Resolution in the heart of the old town, which made walking everywhere convenient.

There are parking lots near the old town, but the town is best explored on foot. It is a rabbit warren of old, narrow streets, some for pedestrians only. Bigger hotels, like the Dolphin Hotel or Rathwaite Sandsend, are a mile or two outside Whitby's historic centre.

If you are staying in nearby York, you might like to book a Day Trip to Whitby and the North York Moors.

Visiting Yorkshire From Nearby Cities

From Liverpool: Full-Day Yorkshire Sightseeing Trip.

From Chester: Full-Day Yorkshire Sightseeing Trip.

From Manchester: Full-Day Yorkshire Sightseeing Trip.

Conclusion

I hope this post has shown you the wonders of Yorkshire and will encourage you to visit the county if you haven't already.

Of course, there are also some impressive cities in Yorkshire, including York - the capital of Yorkshire, Ripon, Leeds, Bradford, Sheffield, Wakefield and Kingston-upon-Hull.

Collectively, they are known as the seven cities of Yorkshire, and you may like to add one of them to your Yorkshire Travel itinerary to compare to Yorkshire's beautiful small towns.

Pin for Future Travel to the United Kingdom