5 of the Best Yorkshire Dales National Park Walks

The Yorkshire Dales National Park has walks ranging from easy riverside routes and limestone valleys to challenging mountain days and long-distance challenges.

These five walks take in some of the Dales’ best-known landscapes, including Malham Cove, Ingleborough, Aysgarth Falls, the Yorkshire Three Peaks and the River Wharfe.

Why Walk in the Yorkshire Dales?

The Yorkshire Dales National Park is one of those places that just begs to be explored on foot.

There are hills that roll on like waves, rivers that are sparkling in the valleys, and limestone cliffs and caves that look like something straight out of a medieval fantasy novel.

It’s the kind of landscape that makes you pack a picnic and lace up your boots…even if the weather sometimes looks a little questionable!

The beauty of the Dales is that it caters to every type of walker. If you enjoy a leisurely riverside ramble that ends in a pint at a stone-built pub, you’ll find it here.

Or if you thrive on steep climbs and mountain views that reward every drop of sweat, the Dales deliver those too.

Here are five of the best walks in the Yorkshire Dales, and each one is unique and well worth the effort.

Also, be sure to check out our guide to the Best Yorkshire Dales National Park Walks for more info on some great hiking opportunities in the area.

Planning more time in the region? Our Hiking in the Yorkshire Dales: Explore Northern England’s Timeless Beauty guide covers the best areas, walking bases and practical tips for exploring the Dales beyond these five routes.

1. Best Limestone Walk: Malham Cove, Janet’s Foss and Gordale Scar

If dramatic landscapes are your thing, this is the walk that steals the show. Malham Cove is a giant limestone amphitheatre, with its curved wall towering 260 feet high.

Climbing to the top puts you on a strange cracked limestone pavement that feels like another planet. 

From there, the path winds on to Gordale Scar, which is a gorge so jaw-dropping that it looks like the earth simply split open.

Water trickles and tumbles through its cliffs, which creates small waterfalls that feel like hidden treasures along the way.

Throw in a stop at Janet’s Foss, which is a woodland waterfall said to be home to fairies, and you have a hike that packs in more drama than most films!

For those of you who like a bit of adventure with your scenery, this loop is perfect. It is not exactly an easy stroll (you can expect uneven ground, some climbs, and plenty of stops just to stare at the landscape( but the payoff is worth every step.

Malham Cove, Janet’s Foss and Gordale Scar Details

Difficulty: Moderate

Average time: Approx. 2.5–3 hours

Distance: Approx. 7.2 km / 4.5 miles including Gordale Scar

Elevation gain: Approx. 200 m / 656 ft

Elevation loss: Approx. 200 m / 656 ft

Route type: Circular

Start/end: Malham National Park Centre

Best for: Limestone scenery, waterfalls and a classic Yorkshire Dales walk

Highlights: Malham Cove, Janet’s Foss, Gordale Scar and limestone pavement

Trail highlight: Reaching the limestone pavement above Malham Cove after already passing Janet’s Foss and Gordale Scar makes this one of the most varied short walks in the Dales.

2. Best Summit Walk: Ingleborough from Clapham

Ingleborough is one of the Yorkshire Three Peaks and easily one of the most recognizable. Starting from the pretty village of Clapham, this route takes you past underground wonders and through dramatic gorges before it heads out onto wide and windswept moorland.

You’ll pass Ingleborough Cave, which is a fascinating stop if you enjoy geology or simply want to see what the Dales hide below the surface. 

Then comes Trow Gill gorge, which is a deep chasm that narrows around you as you climb through.

The grand finale is, of course, the summit of Ingleborough, where the views stretch out toward the Lake District and even as far as the Irish Sea on a clear day.

This is not a walk for those who just want a quick stretch of the legs. It is long and it is challenging (and at times even demanding), but for those of you who enjoy a proper mountain day, it hits every note.

The varied terrain keeps things interesting, and the summit feels like a true achievement once you get to the top. 

Note: Navigation around Ingleborough’s summit plateau can become difficult in poor visibility, so this is one route where reliable navigation matters.

Ingleborough from Clapham Details

• Difficulty: Difficult
• Average time: Approx. 5–7 hours
• Distance: Approx. 17 km / 10 miles
• Elevation gain: Approx. 650–700 m / 2,133–2,297 ft
• Elevation loss: Approx. 650–700 m / 2,133–2,297 ft
• Route type: Circular or out-and-back depending on return route
• Start/end: Clapham
• Highest point: Ingleborough, 723 m / 2,372 ft
• Best for: A proper Yorkshire Dales summit day
• Highlights: Ingleborough Cave, Trow Gill, Gaping Gill and Ingleborough summit
• Trail highlight: The approach through Trow Gill and past Gaping Gill gives this summit walk almost as much character below the mountain as it has at the top.

If you’re new to the trails, you can brush up on these beginner hiking tips before setting out.

3. Best History and Waterfall Walk: Aysgarth Falls and Bolton Castle Circular

For walkers who enjoy a mix of history and nature, this route delivers a little bit of everything. Starting at Aysgarth Falls, you’ll find three broad cascades along the River Ure, each one a spectacle in its own right.

They are famous for their cameo in the film Robin Hood: Prince of Thieves…and honestly, it is easy to see why! 

From there, the path winds through rolling meadows and shaded woodland, and it offers that classic Dales combination of gentle beauty and rural charm.

The highlight waiting at the halfway point is Bolton Castle, which is a formidable 14th-century fortress that once imprisoned Mary Queen of Scots.

Its walls loom over the landscape, and stepping into its grounds feels like stepping back in time.If you enjoy combining a manageable walk with a dash of history, this is definitely one of the best beginner hikes near Leyburn.

If you enjoy combining a manageable walk with a dash of history, this is definitely one of the best beginner hikes near Leyburn. 

Aysgarth Falls and Bolton Castle Circular Details

• Difficulty: Moderate
• Average time: Approx. 3–4 hours allowing time at the falls and castle
• Distance: Approx. 10.8 km / 6.8 miles
• Elevation gain: Approx. 215 m / 705 ft
• Elevation loss: Approx. 215 m / 705 ft
• Route type: Circular
• Start/end: Aysgarth Falls National Park Centre
• Best for: Combining Yorkshire Dales scenery with history
• Highlights: Upper, Middle and Lower Aysgarth Falls, Wensleydale countryside and Bolton Castle
• Trail highlight: Bolton Castle gradually coming into view across the fields gives the walk a completely different character from the woodland and waterfalls around Aysgarth.

4. Best Endurance Challenge: Yorkshire Three Peaks

Now for the big one. The Yorkshire Three Peaks Challenge is famous, and for good reason! Covering Pen-y-ghent, Whernside, and Ingleborough in a single loop, this is not just a walk; it is a serious test of stamina and willpower!

The challenge is usually to complete all three in under 12 hours, racking up nearly 24 miles and thousands of feet in climbs and descents.

With such a long day on the trail, it’s also important to know what to bring on a day hike before you set off.

Pen-y-ghent starts you off with a steep and rocky climb, while Whernside stretches you out on a long ridge with sweeping views, and then Ingleborough saves its steepest punch for the grand finale.

Since you’ll be spending many hours on the route, it’s important to plan ahead for how much water to take on a hike.For those of you who thrive on pushing limits, this is the walk to aim for.

Because the route involves nearly 24 miles and thousands of feet of climbing and descending, it’s worth taking time to improve your hiking stamina before attempting the challenge..

It is not casual, it is not easy, and it will leave your legs begging for mercy…but the sense of accomplishment is unmatched. Along the way, highlights like the Ribblehead Viaduct break up the miles with memorable moments of true architectural beauty.

Thinking about taking on the full challenge? Our Yorkshire Three Peaks guide covers the route, what to expect and how to prepare before you set off.

Yorkshire Three Peaks Challenge Details

• Difficulty: Very difficult
• Average time: Approx. 10–12+ hours
• Distance: 38.6 km / 24 miles
• Elevation gain: Approx. 1,600 m / 5,250 ft
• Elevation loss: Approx. 1,600 m / 5,250 ft
• Route type: Circular
• Start/end: Commonly Horton-in-Ribblesdale
• Highest point: Whernside, 736 m / 2,415 ft
• Best for: Experienced walkers looking for an endurance challenge
• Highlights: Pen-y-ghent, Whernside, Ingleborough and Ribblehead Viaduct
• Trail highlight: Completing all three major summits in a single continuous circuit is what gives this route its reputation.

5. Best Easy Riverside Walk: Grassington to Burnsall Circular

Not every great walk has to involve sweat and sore muscles. For those of you who enjoy a gentler pace, the Grassington to Burnsall route is as relaxing as it is scenic.

Following the River Wharfe, the path takes you right through flower-filled meadows and also alongside calm stretches of water where ducks drift lazily by.

The terrain is mostly gentle, following riverside meadows and countryside paths with only a few short climbs, which makes it a good option for anyone wanting an easier day in the Dales.

Both villages (Grassington at the start and Burnsall at the turnaround) are postcard-pretty, and with stone cottages, village greens, and pubs that make the perfect bookend to a riverside wander.

If you’d rather pack your own lunch, these day-hiking food ideas can help you plan something easy to take along. Burnsall’s 16th-century bridge is worth lingering over, and on summer days the river is dotted with families paddling in the shallows.

Grassington to Burnsall Circular Details

• Difficulty: Easy to moderate
• Average time: Approx. 3–4 hours
• Distance: Approx. 10.5 km / 6.5 miles
• Elevation gain: Approx. 190 m / 623 ft
• Elevation loss: Approx. 190 m / 623 ft
• Route type: Circular
• Start/end: Grassington
• Best for: Riverside scenery, villages and a gentler day walk
• Highlights: River Wharfe, Grassington, Burnsall, Hebden and classic Wharfedale countryside
• Trail highlight: Following the Wharfe into Burnsall gives you one of those classic Dales combinations of river, stone village and green valley scenery.

When Is the Best Time to Walk in the Yorkshire Dales?

Late spring through early autumn offers the easiest all-round conditions for walking in the Yorkshire Dales, although there are good routes here throughout the year.

April to June is hard to beat. The valleys are green, wildflowers begin appearing and the days are long enough for everything from easy riverside walks to bigger mountain days.

July and August bring the longest daylight hours and generally warmer weather, but places such as Malham, Grassington and the Yorkshire Three Peaks can become very busy. An early start makes a noticeable difference on the more popular routes.

September and October are another excellent time to visit. Temperatures are usually more comfortable for climbing, the summer crowds begin to thin and autumn colour starts creeping into the valleys and woodland.

Winter can still be rewarding, especially on lower routes, but conditions higher on Ingleborough and the Three Peaks can become much more serious. Short daylight hours, ice, snow, strong winds and poor visibility can completely change the difficulty of a route.

Whatever the season, the Dales have a habit of fitting several types of weather into one walking day, so check the forecast before setting off.

What to Bring for Walking in the Yorkshire Dales

The kit you need for a riverside walk from Grassington is obviously going to look a little different from what you take onto Ingleborough or the Yorkshire Three Peaks, but changeable weather and muddy ground make a few basics worth carrying on most routes.

For most walks, consider bringing:

• Walking shoes or hiking boots with good grip for limestone, muddy paths and uneven ground
• A waterproof jacket because blue skies in Yorkshire aren’t always a long-term commitment
• A practical layering system for cooler summits, exposed ridges and changing temperatures
• A comfortable daypack for food, water and spare clothing
• Reliable navigation, particularly on Ingleborough, the Three Peaks and longer moorland routes
• Enough water for the full walk, especially on long summer days
• Trekking poles if you prefer some extra support on steeper climbs and descents

For the Yorkshire Three Peaks in particular, don’t treat the route as just three ordinary day hikes stitched together.

It’s a very long outing, and food, water, navigation, weather protection and pacing all become more important as the hours add up.

You can also browse the full collection of hiking buyer guides if you’re putting together your walking kit.

🗒️ Free Checklist: “Never forget the essentials — grab your free Ultimate Hiking Packing List.”

Exploring the Yorkshire Dales

Some of these trails test endurance and deliver mountain highs, others offer easy charm and pub lunches, but all of them showcase the Dales at their finest.

Some of these trails test endurance and deliver mountain highs, while others offer easy riverside scenery, waterfalls and pub lunches, but all of them show a different side of the Yorkshire Dales.

That’s probably the biggest appeal of walking here. You can spend one day climbing through limestone country around Malham, tackle Ingleborough the next, then slow everything down with an afternoon beside the River Wharfe.

The landscape changes surprisingly quickly too. Open fells give way to wooded valleys, dry-stone walls cut across green fields and villages seem to appear exactly when you’re ready for somewhere to stop.

You don’t need to tackle the Yorkshire Three Peaks to feel like you’ve properly explored the Dales. Pick a route that suits the day, leave a little room for the weather to change its mind, and enjoy whichever version of Yorkshire turns up.

More Walking in Yorkshire

If you’re planning more time on the trails, these guides are a natural next step:

• Hiking in Yorkshire — explore the county’s main walking regions, landscapes and bases.
• Best Circular Walks in Yorkshire — find more loop walks across the Dales, moors and surrounding countryside.
• Best Waterfall Walks in Yorkshire — discover more routes around Aysgarth, Ingleton and other waterfall locations.
• Ingleton Waterfalls Trail — take a closer look at one of Yorkshire’s best-known dedicated waterfall walks.
• Yorkshire Three Peaks Challenge — plan the full challenge in more detail if this article has convinced you to take it on.

Where to Next? More Hiking in England

Ready to explore beyond Yorkshire?

• Ultimate Guide to Hiking in England — plan a wider trip across England’s main walking regions and national parks.
• Best Hikes in England — discover more standout day hikes and classic walking routes around the country.
• Best Hikes in the Lake District — head west for higher mountains, lakes and classic fell walking.
• Best Hikes in the Peak District — explore another northern national park with a strong mix of easier walks and bigger hill days.

Kayde Parker

Hi, I’m Kayde Parker, and I love walking, hiking, and history. I want to explore these passions by seeing as many of the best walks and hikes in Europe and the United Kingdom.

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