The Most Perfect One Week Yorkshire Road Trip Itinerary
A driving holiday in Yorkshire is the perfect place to take a road trip in England. You can rest assured that this beautiful northern county is a treasure trove waiting to be discovered.
You can visit medieval castles, stately homes, and beautiful Yorkshire villages and towns and immerse yourself in the Yorkshire national parks, some of the most beautiful areas of countryside in the UK.
And let's not forget the stunning coastal walks and sandy beaches in Yorkshire that are a magnet for locals and tourists in the warmer months - there is something for everyone to enjoy.
Without a doubt, Yorkshire is a fabulous destination to explore on one of the best road trips in the UK.
This post will help you to plan your Yorkshire road trip itinerary. It follows my driving route and includes where I stayed in Yorkshire and the Yorkshire attractions I visited. Depending on your schedule, it can be tweaked for you to spend either more or fewer days in Yorkshire.
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Yorkshire Map
Fun Fact: Yorkshire is England’s largest county with a population bigger than Scotland.
Arriving In Whitby
The drive time from London to Whitby is approximately five hours, depending on traffic.
We started our week-long Yorkshire road trip itinerary in Whitby and arrived in the early evening. I chose Whitby as the first stop on my itinerary as I had always wanted to see the famous Whitby Abbey and follow in Dracula's footsteps.
Yes, you have read that correctly! Bram Stoker created Dracula after he spent time in Whitby, and the 199 steps leading from the harbour to the abbey are featured in the Dracula novel.
Supposedly, this is one of Whitby's most popular tourist attractions, and I have to say there were plenty of people walking up and down the steps when I visited.
Of course, there are many things to do in Whitby besides vampire hunting, but Whitby Abbey is undoubtedly one of the most famous attractions in Yorkshire.
We spent our first night in Yorkshire at The Resolution Hotel. The hotel offers en-suite accommodation in the heart of Whitby and is home to the renowned Vault restaurant and Main Deck bar. Our room had impressive views over the town's rooftops to Whitby Abbey.
Top Tip: Whitby is 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.
Spend Day One in Whitby and the Yorkshire Moors
Whitby Abbey
There are many attractions in Whitby, but the most impressive are the gothic ruins of the Benedictine monastery, Whitby Abbey.
Perched high on a hill above the town, the views across Whitby harbour are fabulous. Wander around the ruins, look inside the museum and visit St Mary's church, where you will find Dracula's grave!
Once you've finished exploring the abbey ruins, visit the Captain Cook Museum and learn all about the famous captain who departed Whitby to sail around the world and eventually discovered Australia!
A photo spot in Whitby is by the whalebone arch on the hill opposite Whitby Abbey. It attests to the town's past importance in the whaling trade.
Thankfully, whaling stopped a while back, but fishing in Whitby is still important to the local economy. A stroll along the pier will give you information on Whitby's past and present maritime history.
Back in town, wander along the cobbled streets and dip into some of Whitby's jewellery shops to see the black jet made famous as mourning jewellery by Queen Victoria. You may even find a piece to take home as a souvenir.
If you are an English Heritage membership holder, entry to Whitby Abbey is free.
North York Moors National Park
The North York Moors is one of three national parks in Yorkshire. The other two are the Yorkshire Dales National Park and parts of the Peak District National Park.
The North York Moors have some of the most breathtaking landscapes in England, giving Yorkshire the accolade of being 'God's Own County'.
The North York Moors also contains one of the largest expanses of heather moorland in the United Kingdom. Our first day in Yorkshire was spent driving to these different locations within the National Park.
Robin Hood's Bay
The drive time from Whitby to Robin Hood's Bay is 15 minutes.
Robin Hood's Bay has a colourful history of smugglers and ghosts, and this sleepy fishing village on the Yorkshire coast is a delight to explore. If you have ever visited Rye in East Sussex, it will give you some idea of what Robin Hood's Bay is like.
All along the cobbled lanes, you can see quaint cottages with brightly coloured flowers clinging to their facades.
The charm continues with independent shops, art galleries, and old-world pubs peeping out from their precarious positions along the steep hill to the beach.
The large sandy beach is picture-perfect, with fishing boats bobbing on the water and children scouring rock pools for signs of sea creatures.
Before paddling in the sea and enjoying the calming views, I bought ice cream from Dollies Sweet Shop, a local favourite.
There are two walking routes in the area to explore.
One is part of "The Cleveland Way," an iconic seven-mile track from Robin Hood's Bay to Whitby.
The second walk is a shorter 1.5-mile trail from Robin Hood's Bay to Fylinghall, part of the longer "Cinder Track." This disused railway track offers incredible views of Yorkshire's countryside and coastline.
Rosedale
The drive time from Robin Hood's Bay to Rosedale is 45 minutes.
A stunning Yorkshire scenic drive is through the moors and down the winding country lanes in Rosedale en route to the charming Dale Head Farm Tea Garden.
Home-baked cakes, many made to ancient Yorkshire recipes, are mouth-watering. Order from the counter, sit in the picturesque garden, and relax!
Afterwards, head to Rosedale Bank Top Kilns in the North Yorkshire Moors National Park for incredible views. Bring a picnic, follow the steep road from Rosedale and park the car by Bank Top Kilns.
You will get the most stunning views of the Yorkshire countryside from here, with only sheep for company!
Walkers might like to follow the Rosedale Trail and discover how this sleepy area was once a hub of industry in the Iron Age.
In the late afternoon, head to the Howardian Hills for your next two nights in Yorkshire.
The drive time from Rosedale to the Howardian Hills - 40 minutes.
Spend two nights' accommodation at The Librarian's Cottage on the Castle Howard Estate
Spend Day Two In The Howardian Hills
Rievaulx Abbey
The drive time from the Howardian Hills to Rievaulx Abbey is 20 minutes.
Rievaulx Abbey dates back to 1132AD and remains one of the most complete of England's abbey ruins. The ruins are spectacular, and the site is a pleasant place to relax and enjoy a picnic or refreshments from the cafe.
There is a popular scenic 7-mile circular walking route from Helmsley Castle to Rievaulx Abbey for keen walkers.
Parking for Rievaulx Abbey is available on-site or in the nearby privately owned field. Both locations charge a small parking fee.
How to find Rievaulx Abbey: Rievaulx, Nr Helmsley, North Yorkshire, YO62 5LB
If you are an English Heritage membership holder, entry to Rievaulx Abbey is free.
Richmond
Richmond is an elegant market town in the Yorkshire Dales. It is 950 years old and was the first location in the world to be given the place name Richmond.
It also has the title of the best-preserved Norman castle in England, so with credentials like those, you will want to add this historic town to your Yorkshire road trip itinerary.
Like many Yorkshire towns, its central hub is the cobbled marketplace lined with Georgian and Victorian architecture and home to quite a few pubs from what I saw!
There are several walks in Richmond and numerous hiking trails in the surrounding Yorkshire Dales.
One takes you through the town and down to the small waterfalls in the local park. Watch out in summer as this area becomes a magnet for teenagers!
If you want to see the ruins of Easby Abbey, you can walk the mile-long route alongside the River Swale. The ruins date back to the 12th century and are maintained by English Heritage.
When it's time for refreshments, head to The Station, a converted Victorian railway station by the local leisure centre's car park. It has a cafe and ice cream parlour, some art and craft exhibits, and a cinema if you fancy watching a film.
Wensleydale
The drive time from Richmond to Wensleydale is 45 minutes.
Fans of Wallace and Gromit will know that Wensleydale is the home of these animated characters.
It is a typical Yorkshire village. The main tourist attraction is the Wensleydale Creamery, where Cistercian monks first started making Wensleydale cheese in 1150.
There are several pubs in Wensleydale if you want to stop for lunch and a pint.
Bolton Castle
The drive time from Wensleydale to Castle Bolton is 20 minutes.
Bolton Castle is a spectacular medieval fortress that is preserved in outstanding condition. It is in the heart of Wensleydale, inside the Yorkshire Dales National Park.
The castle was built in the 14th century as one of England's finest and most luxurious homes.
Visitors to the castle can see the medieval Mary Garden (Catholic Garden), herb garden, vineyard & maze, rose gardens & falconry displays. The adult entry fee for the castle and gardens is £12.50
How to find Bolton Castle: Leyburn, North Yorkshire DL8 4ET
In the late afternoon, head back to the Howardian Hills.
Spend Day Three in the Howardian Hills
From the Librarian's Cottage, it was a quick 5-minute drive to the magnificent Castle Howard stately home and grounds.
Castle Howard
Castle Howard is one of Britain's most beautiful privately-owned stately homes and one of the grand palaces of Europe. The sprawling estate covers over and has been home to the Howard family for the last 300 years and is a must-visit on a Yorkshire road trip.
Fans of the Netflix series Bridgerton might spot that parts of the series were filmed in this location.
The estate comprises a manor house, extensive grounds, mesmerising lakes, a walled garden, folly temples and a wooded area.
There is an adventure playground for younger family members, and for refreshments, there are several eateries and a fantastic farm shop selling local Yorkshire products.
Castle Howard should be on every Yorkshire itinerary as it is a jewel in Yorkshire's crown.
We spent around five hours at Castle Howard, including going inside the house, wandering around the grounds, having lunch, and relaxing by the lake.
How to find Castle Howard: Castle Howard Estate, York, YO60 7DA
Yorkshire Lavender
The drive time from Castle Howard to Yorkshire Lavender is 10 minutes.
I love visiting the UK's most beautiful lavender farms, and Yorkshire Lavender was no exception. The owners have put a lot of thought into how they planted their lavender, creating a beautiful setting with the rolling Yorkshire hills as a backdrop.
A gift shop selling everything related to lavender is sure to impress. I ended up buying half the shop myself, but then I do love lavender!
A small cafe selling light bites, ice creams and drinks is also on-site.
Find Yorkshire Lavender in Terrington, York, YO60 6PB
Spend Day Four in York
The drive time from Howardian Hills to York is 30 minutes.
Stay one night at the Travelodge Mickelgate in York. The famous landmarks are a 10-minute walk away.
We chose a travel lodge for our night in York because it had free on-site parking. This is a massive bonus in York, as parking spots are hard to find. We arrived well before our check-in time and were able to park the car at the hotel and go out to explore York.
Explore the City of York
No Yorkshire road trip would be complete without visiting York, one of England's favourite cities and one of the most amazing places in the UK, for a one-night break.
York is steeped in history, and there are so many things to do in it, from exploring the famous city walls and the must-see York Minster Cathedral to visiting the York Castle Museum, the Jorvik Viking Centre, and the York Dungeons.
For Harry Potter fans, a guided tour along The Shambles and looking at the HP shops will be on every muggle's bucket list.
Taking an evening ghost tour or a themed witch tour around Britain's most haunted city is a must for all visitors to York. You won't believe how many ghosts and ghouls wander around this medieval city!
We spent the day in York, enjoying a walk along the city walls, browsing the shops, visiting York Minster Cathedral, and having lunch and a glass of wine at the Merchants' Adventurers Hall.
We booked a ghost tour in the evening and then had one of York's famous Yorkshire pudding roast dinners.
When in York, you have to try this famous dish!
Spend Day Five In York
We had a few hours to kill this morning, so we headed into York city centre for breakfast/brunch.
We chose to eat at Brew and Brownie because it had such good reviews. It was so popular that we had to queue for a table! I have to say it was excellent and worth the accolade of York's best breakfast restaurant.
Afterwards, we visited York Castle Gardens to see the ruins and walk along the river.
It is a peaceful spot in an otherwise bustling city. Before leaving York, I had to pop into one of the city's most beautiful shops, The Yorkshire Soap Company, to buy some of its beauty products.
We didn't make it to Betty's Tea Rooms because we ran out of time in York; however, if you have more time than us to spare, try to visit there.
Next stop - Harrogate
The drive time from York to Harrogate is 45 minutes.
We spent two nights at the Rudding Park Hotel in Harrogate. Booking.com offers alternative accommodation and pricing in Harrogate.
Spend Day Six in Harrogate
Harrogate
Harrogate is home to some of the best attractions in Yorkshire and a firm favourite for visitors to North Yorkshire. The Victorian spa town is a good spot for shoppers, with a good range of independent and 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, which date back to 1897 and were fully restored to their former glory. Spend time relaxing in the warm baths before indulging in a full-body massage!
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.
Spend Day Seven in the Yorkshire Dales
Check out of your Harrogate hotel and continue your Yorkshire road trip to Pateley Bridge.
Pateley Bridge
The drive time from Harrogate to Pateley Bridge is 30 minutes.
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.
Comprising 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 and find 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. You can choose the origin of chocolate that you want your chocolate drink made from ( I chose Venezuela), and it 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.
Haworth and the Bronte Waterfall Walk
The drive time from Pateley Bridge to Haworth is 60 minutes.
Haworth is a beautiful village in West Yorkshire famous for being the home of the Bronte sisters.
The number one Haworth attraction is the Bronte Parsonage Museum, which offers a glimpse into the lives of the Bronte family in the early 1900s.
The rough and rugged Yorkshire landscape around the village inspired the setting of Wuthering Heights.
Haworth Railway Station is another great place to visit on a Yorkshire road trip. 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.
Stroll through Bronte Country
For walkers, there are plenty of chances to enjoy the Yorkshire landscape.
Top Withens Walk is a popular Yorkshire Dales walk that takes you out of Haworth along signposted pathways to the moorland. It 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 to do and does not entail the climb up to Top Withens (I chose this as the easier option)
It takes you through the beautiful countryside and finishes with a small bridge and waterfall. Along the waterfall route, there is uneven terrain that is only suitable for steady walkers.
To reach the waterfall, the walk is 45 minutes from Haworth High Street or a 30-minute walk from Penistone Country Park, where you can park your car.
Following our final walk in Yorkshire, we climbed back into the car and started our journey home. The drive time from Haworth to London is 4 hours and 30 minutes. Yorkshire was a real eye-opener and one of the best UK road trips I have experienced.
Are you looking for Yorkshire accommodation?
Please read my post: Best Yorkshire Accommodation for a 7-night Road Trip.
Are you interested in visiting other towns and villages in Yorkshire?
Please read my post: 13 Most Stunning Places To Visit In Yorkshire
Or why not head to Leeds or Sheffield to explore the urban sights in two of Yorkshire's most famous cities?
Need help planning your next holiday?
Please check out my curated Travel Resources Guide for the exact booking platforms, transport tools, and eSIMs I use on my travels.
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Angela Price: is an accomplished travel writer bringing extensive expertise and passion to the world of travel.
With over 40 years of globetrotting adventures under her belt and with a keen eye for unique experiences, she has established herself as an authoritative voice in travel, offering invaluable insights for fellow adventurers seeking to uncover the delights of worldwide destinations.
Her motto is “live life wandering not wondering”. Read more about Angie.
This looks like a divine road trip, Angela! I can see myself enjoying every moment.
We always planned to do a long road trip when we get to England for a long visit; I now have some great spots to add for the Yorkshire part of our route. And a better idea of how much time we might need! Castles would certainly be the draw. But great to know that there are some great national parks we need to have on the plan. I am always fascinated by abbey ruins and how much is left standing.
I would absolutely love this one week Yorkshire road trip! So many beautiful and historic sites to see along the way.
I am glad you enjoyed reading this post. You are right, there are some really special places to visit in Yorkshire. I wonder if you had a favourite from the itinerary that you would particularly like to see?