The 7 Best Dog-Friendly Walks in Dorset
If you’re looking for the best dog-friendly walks in Dorset, you’ve come to the right place! Dorset boasts a...
Are you looking to explore Yorkshire’s natural wonders on foot? Then our guide to the best walks in Yorkshire has you covered! With a wealth of walks ranging from easy strolls to challenging hikes; breath-taking scenery is guaranteed!
From wild dales and windswept moors to tranquil waterfalls and rugged coastline, this collections of the best walks in Yorkshire truly have it all! Whether you’re looking to discover the rugged beauty of the Yorkshire Dales or the coastal paths of the North York Moors, this guide will lead you on unforgettable journeys through some of England’s most stunning scenery.
Lace-up your boots, pack your camera, and get ready to discover the wonders of Yorkshire on foot.
Continue reading to discover the 20 best walks in Yorkshire…
Best Walks in Yorkshire Dales
Best Walks in North Yorkshire
Best Walks in West Yorkshire
Best Walks in East Yorkshire
Best Walks in South Yorkshire
This stunning Yorkshire walk offers a myriad of landscapes that will not fail to astound you!
Begin this circular Yorkshire walk from the National Park Centre in Aysgarth, where you can savour three flights of waterfalls. These stunning feats of beauty have been painted by Turner and Ruskin, and have been seen on the big screen during the Robin Hood: Prince of Thieves film. So, you are sure to snap an insta-worthy shot or two here!
After enjoying the Lower Falls, find the path that veers off to the left and follow the signpost for Castle Bolton and Redmire. From here, make your way into the small village of Castle Bolton, which is built around the ruins of the castle, where you will find plenty of opportunities for a scenic picnic.
This is a perfect walk for you and your dog, with only a modest climb to the top and numerous locations to cool off. Making it one of the better dog walks in the Yorkshire Dales and one of the stunning circular walks in Yorkshire Dales.
Car park: National Park Centre at Aysgarth, DL8 3TH
Distance: 7 miles
Difficulty: Moderate
Suitable for: Adults and pets
Full Route: Aysgarth Falls via Castle Bolton Full Route
Next on our guide to the best Yorkshire walks is the sublime Catrigg Force Circular, beginning in the lovely Dales village of Stainforth.
This short Yorkshire walk offers a route that the entire family can enjoy, evoking a sense of a fairy forest! After hopping across the impressive stepping stones, follow the ancient walled track of Goat Lane before reaching the signpost for Catrigg Force.
Hear the roar of the waterfall as you stroll past the trees. Now, the waterfall can be seen and the temptation to dip into the enticing drop pool for wild swimming is all too real!
Once you’ve admired the beauty of this UK waterfall, return to the walled lane and head to the village pub for a well-deserved pint or two.
Car park: Stainforth Car Park, BD24 9PF
Distance: 2 miles
Difficulty: Easy
Suitable for: Families and pets
Full Route: Stainforth and Catrigg Force Walk
A guide to Yorkshire walks would not be complete without the famous Three Peak challenge, right? This 24-mile route takes on the peaks of Pen-y-Ghent, Whernside and Ingleborough and can be completed within 12 hours.
Whilst there are multiple starting points for this route, we recommend beginning the hike in Chapel le Dale, where you can take on the summit of Ingleborough first. After two hours of walking, you will arrive in Horton-in-Ribblesdale, a small village where you will find toilets.
The next peak is Pen-y-Ghent, which is the lowest of the three, and offers views of the Ribblehead Viaduct. To complete this Yorkshire walk, you will hike to the summit of Whernside, before returning to Chapel le Dale, where you can be rewarded with a pint in the local!
Car park: Free parking available in Chapel le Dale, LA6 3AR
Distance: 24 miles
Difficulty: Hard
Suitable for: Adults/experienced walkers and hikers
Full Route: Yorkshire Three Peaks
The Buckden Pike and Polish War Memorial Walk offers a poignant blend of natural beauty and historical significance in the North York Moors National Park. Beginning at the village of Goathland, famously known as the fictional “Aidensfield” in the TV series Heartbeat, the trail leads adventurers through enchanting woodlands and heather-clad moorlands.
Ascending Buckden Pike, walkers are rewarded with panoramic views across the sweeping landscapes of the moors and glimpses of the rugged coastline beyond. At the summit, the Polish War Memorial stands as a solemn tribute to the brave Polish airmen who served in World War II, reminding visitors of the sacrifices made for freedom.
As hikers continue their journey, they encounter remnants of ancient settlements and the tranquil beauty of the surrounding countryside. With its blend of scenic vistas and historical resonance, the Buckden Pike and Polish War Memorial walk offers a memorable exploration of the North York Moors’ rich heritage and natural splendour.
Car park: Buckden Car Park, BD23 5JA
Distance: 7 miles
Difficulty: Hard
Suitable for: Adults
Full Route: Buckden Pike and the Polish War Memorial
The James Herriot Way is a delightful walking trail that meanders through the picturesque landscapes of the Yorkshire Dales. Stretching 52 miles; it’s not surprising that it features on our guide to the best walks in Yorkshire.
Named after the famous veterinarian and author James Herriot (real name James Alfred Wight), who immortalised the region’s beauty in his beloved books, this circular route showcases the timeless charm of the Yorkshire countryside.
Starting and ending in the market town of Hawes, walkers are treated to a journey of discovery, passing through quaint villages, verdant valleys, and rolling hills dotted with sheep and cattle. Along the way, hikers can explore historic landmarks, such as Bolton Castle and Aysgarth Falls, and revel in the Dales’ unspoiled wilderness.
With its gentle gradients and stunning vistas, the James Herriot Way offers a truly immersive experience in the heart of one of England’s most cherished landscapes.
Car park: Aysgarth village
Distance: 52 mile circular walk
Difficulty: Hard
Suitable for: Adults. Although some sections of the route could be completed by all ages.
Full Route: The James Herriot Way
This classic walk in Yorkshire takes you up to Roseberry Topping, one of the most prominent hilltops in Middlesbrough.
Start this walk from the village green in Great Ayton before reaching Cliff Ridge Wood. From here, continue along the bridleway until you reach the forest and turn left up a steep hill.
Traverse across the moorland and come to the intrepid explorer’s famous landmark, Captain Cook’s Monument. From here, admire the view and follow the Cleveland Way, one of the best walks in the UK north, heading towards the Roseberry Topping.
Stride across the moorland and take in the 360-degree views of the North York Moors National Park, before completing your journey with a walk through Newton Wood.
Roseberry Topping is just one of several incredible walks to discover on your next North York Moors getaway.
Car park: Roseberry Topping Public Car Park, TS9 6QS
Distance: 5.5 miles
Difficulty: Hard
Suitable for: Adu;ts/experienced hikers and dogs, however, dogs must be kept on a lead near livestock
Full Route: Roseberry Topping and Captain Cook’s Monument
A guide to the best walks in Yorkshire would not be complete without a jaunt through the iconic seaside town of Whitby. With breath-taking views, the world-famous Whitby Goth Weekend and a plethora of history and literary connections; you won’t be bored on this Yorkshire walk.
Begin in the heart of and follow a section of the Cleveland Way along the coast! Drink in the unbeatable views across the North Sea before venturing inland to Stainsacre, this walk then meanders up through the country and past the Larpool Viaduct before entering into Whitby once again.
After conquering this idyllic Yorkshire walk, stop for a coffee or a bite to eat at one of the cafés and eateries in town. You can then step about exploring some of Whitby’s other iconic sites including Whitby Abbey and the challenging 199 steps!
This is just one of many wonderful North Yorkshire walks to try when you’re in the area.
Car park: Church Street Car Park, YO22 4AS
Distance: 8.9 miles
Difficulty: Moderate
Suitable for: Adults and pets, however some sections may be suitable for all ages
Full Route: Whitby and the coastal path circular route
The Old Saltburn to Warsett Hill walk offers a captivating journey through the rugged beauty of the North York Moors National Park. Beginning in the charming seaside town of Saltburn-by-the-Sea, hikers embark on a circular scenic route that winds its way inland, revealing panoramic views of rolling hills, expansive moorland, and distant coastal vistas.
As the trail ascends towards Warsett Hill, walkers are greeted by the tranquil expanse of the Cleveland Way, where the vastness of the surrounding landscape unfolds before them. Along the way, ancient stone walls, heather-clad slopes, and remnants of old mining activity serve as reminders of the area’s rich industrial past.
After crossing a railway line, the walk culminates in a rewarding summit experience atop Warsett Hill, where visitors can soak in the sweeping panoramas and enjoy a sense of serenity amidst the untamed beauty of the moors.
Walking back down the hill and across another railway line once again, the trail will lead you back to the car park.
Car park: Seafront car park, Saltburn-by-the-Sea, TS12 1HH/ Postcode for satnav car park: TS12 1HF
Distance: 4.5 miles
Difficulty: Moderate
Suitable for: Adults and pets, however dogs must be kept on a lead
Full Route: The Old Saltburn to Warsett Hill Walk
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The White Horse Walk in Yorkshire is a captivating journey with both natural beauty and historical intrigue. At its heart lies the iconic Kilburn White Horse, a majestic hill figure carved into the hillside in 1857. This ancient landmark serves as the focal point of the walk, offering stunning panoramic views of the surrounding Yorkshire Dales National Park.
As walkers traverse the well-marked paths, they are treated to a diverse array of landscapes, from verdant woodlands to expansive moorlands. Along the route, hikers can explore the ruins of Byland Abbey, adding a layer of historical richness to the experience. Charming villages and cosy pubs dot the trail, providing opportunities for rest and refreshment amidst the picturesque surroundings.
Keep an eye out for local wildlife, including birds of prey soaring overhead, adding to the natural beauty of the surroundings. This is a perfect walk for you and your furry friend, with only the odd uneven path along your journey, making it great for dog walks in Yorkshire.
Whether you’re a seasoned hiker or just out for a stroll, this Yorkshire walk promises a memorable and rewarding day out in the stunning Yorkshire countryside.
Car park: Kilburn White Horse car park (YO61 4AN), this is not the exact location of the car park so follow signs once you are close.
Distance: 1.5 miles
Difficulty: Moderate
Suitable for: Families and pets, however, the route can be challenging route at times due to steep inclines and steps
Full Route: The White Horse Walk
Ilkley Moor is a popular location for Yorkshire walks; this excellent route passes the Twelve Apostles Stone Circle and the Cow and Calf gritstone outcrop, provides some fabulous photo opportunities.
This circular walk in Yorkshire immediately begins with an uphill climb before heading diagonally across the moorland. Here, you will discover Haystack Rock before you find the more striking formation of Grub Stones. If you are brave, climb the stones for stunning views across North and West Yorkshire.
After a gentle incline along the main path, find the Twelve Apostles Stone Circle and savour the views across the moorland. With views like this, it’s unsurprising that it made our list of the best Yorkshire walks.
Discover this and many other wonderful walks during your next getaway to West Yorkshire.
Car park: Ilkley Moor Car Park, LS29 8RF
Distance: 4.7 miles
Difficulty: Moderate
Suitable for: Families and pets, however, the route can be challenging route at times due to steep inclines and steps
Full Route: Ilkley Moor: Twelve Apostles and The Eastern Moor
With enchanting views across secluded moors, this is one of the best reservoir walks in Yorkshire. The locals will tell you that a stroll around Baitings Reservoir is one of the finest Yorkshire walks, with so much to see along the way.
Start the route along the northern shore of the reservoir before crossing Baitings Viaduct. Moments later, you will arrive at the entrance to Yorkshire Water’s permissive footpath, which takes you along the southern shore of the water.
Continue eastwards along the path before turning left for the final section back to the car park. This Yorkshire walk is the ideal choice for those with little avid ramblers!
Car park: Rochdale Road Car Park, HX6 4LR
Distance: 1.5 miles
Difficulty: Easy
Suitable for: This walk should be suitable for all ages, but some areas may not be wheelchair or pram-friendly
Full Route: Baitings Reservoir
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The Railway Trail walk in West Yorkshire offers a fascinating journey through the region’s industrial past and stunning natural landscapes. Following the route of an old railway line, the trail provides walkers with a unique perspective on the area’s history, as they traverse former railway embankments and cuttings, now reclaimed by nature.
As hikers meander along the gently sloping path, they are treated to sweeping vistas of rolling hills and verdant countryside; be on the look out for charming villages and historic landmarks! Along the way, walkers may encounter remnants of the railway’s heyday, such as disused stations and railway bridges, adding a sense of nostalgia to the experience. You could also venture into the heart of Hebden Bridge to uncover some famous Happy Valley filming locations.
Whether enjoyed as a leisurely stroll or a more challenging hike, this walk in Yorkshire offers a wonderful opportunity to explore the beauty and heritage of West Yorkshire’s countryside, providing a memorable outdoor adventure for visitors and locals alike.
Car park: Two pay-and-display car parks are available for the walk – Clough Hole Car Park (HX7 7AZ) and Midgehole Car Park (HX7 7AA).
Distance: 3 miles
Difficulty: Hard. Some uneven, narrow paths, stream crossing and steep climbs or descents. Not suitable for wheelchairs due to rough terrain.
Suitable for: Adults
Full Route: Railway Trail Walk
The Eastergate return walk is a delightful countryside ramble that offers a serene escape from the hustle and bustle of everyday life. Beginning in the quaint village of Eastergate, walkers can embark on a leisurely journey through picturesque landscapes characterized by rolling fields, meandering streams, and lush woodlands.
As you follow the winding footpaths, you are treated to breath-taking views of the surrounding countryside, dotted with charming cottages and historic landmarks. The route meanders through stunning countryside, providing ample opportunities for birdwatching and wildlife spotting along the way.
With its gentle terrain and well-marked paths, the Eastergate return walk is suitable for walkers of all ages and abilities, making it an ideal choice for families and casual hikers seeking a peaceful outdoor excursion.
Whether enjoyed on a sunny afternoon or during the vibrant hues of autumn, this scenic Yorkshire walk promises a rejuvenating experience amidst the natural beauty of the English countryside.
Car park: There is a large free car park run by the local authority available, the postcode is HD7 6DH
Distance: 2.8 miles
Difficulty: Easy
Suitable for: This walk should be suitable for all ages, but some areas may not be wheelchair or pram- or pram-friendly due to uneven terrain
Full Route: The Eastergate Return walk
This Yorkshire hidden gem is an undeniably pretty waterfall walk in the scenic Harden Valley.
Start this Yorkshire walk by meandering through Myrtle Park as you follow the Harden Beck upstream. After crossing over the old Beckfoot Packhorse Bridge, you will soon discover the magnificent beauty of the Goit Stock Waterfalls, tucked away in a charming woodland setting.
After taking some stunning photos of the following water, make your way to the Hewenden Viaduct, where you will walk under the arches and striking views across Bronte Country.
Car park: Bingley Railway Station, BD16 2NB
Distance: 10.7 miles
Difficulty: Hard
Suitable for: Adults
Full Route: Goit Stock Waterfall
Yorkshire coastal walks are perfect for those seeking a haven for wildlife and incredible views that will impress at any time of the year.
This walk around Flamborough in the East Riding of Yorkshire boasts views of one of the finest areas of chalk cliffs in Britain, as well as a collection of lighthouses that line the coast.
After leaving the village, find the Flamborough Cliffs Nature Reserve, which hugs the coastline. The walk then continues along the top of the cliffs, with the North Sea crashing to your left. The path will then bring you to the Lighthouse at Flamborough Head before venturing to the Fog Signal Station.
After a short climb up steep steps, savour the views of the coastline before taking the footpath to the right, and heading towards Flamborough.
Car park: Chapel Street, YO15 1LH
Distance: 2.2 miles
Difficulty: Easy
Suitable for: This walk should be suitable for all ages, but some areas may not be wheelchair or pram-friendly due to navigating fields and footbridges
Full Route: Flamborough Head Circular
Next up on our guide to the best walks in Yorkshire is the route from Millington and Huggate. This walk invites adventurers to explore the charming countryside of Yorkshire. Starting from the quaint village of Millington, walkers embark on a journey through undulating landscapes, rolling hills, and lush green valleys.
The trail meanders along ancient bridleways and country lanes, passing through picturesque farmland and idyllic woodlands adorned with vibrant wildflowers and even the chance to spot some wildlife. As walkers ascend towards the quaint village of Huggate, they are rewarded with sweeping panoramic views of the surrounding countryside, dotted with historic farmsteads and rustic barns.
Along the way, walkers may encounter sheep, grazing peacefully in the meadows, adding to the charm of the scenery. With its serene ambience and stunning vistas, this Yorkshire walk offers a peaceful retreat into nature, allowing walkers to unwind and reconnect with the beauty of the Yorkshire countryside. The perfect circular walk in Yorkshire!
Car park: Millington, York YO42 1TX (Park opposite the church)
Distance: 13 miles
Difficulty: Hard
Suitable for: Adults. This is a challenging walk and is recommended for regular and experienced walkers
Full Route: Millington and Huggate walk
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The Risby Round is a delightful circular walk nestled in the heart of Yorkshire, offering walkers a captivating blend of scenic beauty and historical charm. Starting in the picturesque village of Risby, the trail meanders through lush countryside, rolling hills, and tranquil woodlands.
Along the way, walkers encounter charming hamlets and idyllic farms, each steeped in centuries of rural heritage. The route also boasts panoramic views of the surrounding landscape, with glimpses of distant moors and meandering rivers adding to its allure.
History enthusiasts will appreciate this Yorkshire walk as it passes by ancient churches, centuries-old stone bridges, and remnants of bygone industries, which provide a fascinating glimpse into Yorkshire’s rich past. With its stunning scenic views, the Risby Round offers an enchanting escape into the bucolic beauty of the Yorkshire countryside.
Car park: Begins and ends at Folly Lake Cafe Dunflat Rd, Risby, Nr Beverley HU17 8SS
Distance: 2.9 miles
Difficulty: Easy
Suitable for: This walk should be suitable for all ages, please wear appropriate footwear. Some areas may not be wheelchair-friendly due to rough and overgrown sections.
Full Route: The Risby Round
Langsett Reservoir and Little Don River circular walk is a superb choice to relish in the beautiful landscapes of South Yorkshire.
This Yorkshire walk begins near Langsett on the edge of the Peak District National Park before taking you through little-known moorland, coming back down via the Little Don River. If you’re enjoying good weather, extend the route to encompass the Langsett Reservoir. During this superb Yorkshire walk, you are sure to catch a glimpse of unique Yorkshire wildlife and misty views across the striking moorland.
A perfect walk in South Yorkshire to take you away from the stresses of everyday life!
Car park: Langsett Barn Car Park, S36 9FD
Distance: 3.6 miles
Difficulty: Moderate
Suitable for: Suitable for families and pets
Full Route: Langsett Reservoir and Little Don River Circular
Another of the best Yorkshire walks is the Derwent Edge and Strines Moor Ridge walk! Offering a captivating journey through the rugged beauty of the Peak District National Park and South Yorkshire; it’s unsurprising that it made our list.
Beginning in the picturesque village of Ladybower, ascend to the iconic Derwent Edge, where you are greeted by sweeping vistas of the surrounding landscape. Traverse the undulating moorland terrain, and immerse yourself in a landscape shaped by centuries of geological history, with gritstone tors and ancient rock formations dotting the horizon.
The route follows the dramatic ridge line of Derwent Edge, offering panoramic views of the reservoir below and the distant peaks of the Dark Peak. Continuing across Strines Moor Ridge, you are treated to expansive vistas of heather-clad moorland and tranquil reservoirs, providing a sense of solitude and tranquillity amidst the rugged wilderness.
With its challenging terrain and remote landscapes, the Derwent Edge and Strines Moor Ridge walk is a truly immersive Yorkshire walk, making it a favourite among seasoned hikers and nature enthusiasts alike.
Car park: Fairholmes car park, Upper Derwent Visitor Centre, Hope Valley, S33 0AQ
Distance: 7.7 miles
Difficulty: Moderate
Suitable for: Adults and pets
Full Route: Derwent Edge and Strines Moor Ridge
Concluding our guide to the best walks in Yorkshire is the Wyming Brook and Rivelin Reservoir Circular walk. It presents a delightful blend of natural beauty and tranquil waterside scenery in the heart of South Yorkshire.
Starting from the picturesque Rivelin Valley, walkers are enveloped in the soothing ambience of woodlands and meandering streams as they follow the course of Wyming Brook. The trail meanders through ancient woodlands adorned with vibrant flora and fauna, offering glimpses of cascading waterfalls and tranquil pools along the way.
As you ascend towards Redmires Reservoirs, you are treated to sweeping views of the surrounding moorland and distant peaks, providing a sense of serenity and solitude amidst the rugged landscape. As you continue on this Yorkshire walk, look forward to the calming ambience of reflective waters and lush greenery, offering the perfect opportunity for quiet contemplation and relaxation.
With its scenic beauty and peaceful surroundings, this Yorkshire walk provides a rejuvenating escape into nature, making it a cherished destination for lovers of the great outdoors!
Car park: Wyming Brook car park (South of Rivelin Reservoir)
Distance: 3.8 miles
Difficulty: Moderate
Suitable for: Families and pets
Full Route: Wyming Brook and Rivelin Reservoir Circular
Images: Neil Turner – CC BY-SA 2.0; Chris Combe – CC BY 2.0; Colin Gregory –CC BY 2.0; mrMark – CC BY 2.0; alh1 – CC BY-ND 2.0; Dmitry Djouce – CC BY 2.0; Steve Batch 61 – CC BY 2.0
If these walks in Yorkshire are tempting, take a look at accommodation in Yorkshire or find even more wonderful things to do in our North Yorkshire Travel Guide and Yorkshire Dales Travel Guide. If you’re looking to learn more about the region, check out this guide covering the Yorkshire Dales vs the North York Moors »
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