6 of the Best Circular Walks in Yorkshire

Yorkshire is tailor-made for circular walks. It’s a region where ancient footpaths loop through rolling hills, and there’s also dramatic moorland, coastal cliffs, and storybook village to hike through. And then just like that, you’ll be brought right back to where you started, and ideally within striking distance of a pub!

Regardless of whether you’re looking for a breezy few hours outdoors or a full-day challenge with a wild view or two, these circular trails truly do hit the sweet spot between effort and reward.If you’re planning to explore beyond Yorkshire, be sure to check out our Ultimate Guide to Hiking in England for even more incredible walking destinations.

Here are six of the best circular walks in Yorkshire.Before setting off, it’s worth reviewing our day hiking packing checklist to make sure you’ve got everything you need for a safe and comfortable adventure

Malham Cove, Gordale Scar and Janet’s Foss Loop (Best Day Hikes from Malham)

This classic circular route in the Yorkshire Dales is like a greatest hits of limestone wonders. Starting from the charming village of Malham, the trail takes in the towering curve of Malham Cove and then winds past the cascading Janet’s Foss waterfall before pushing on to the dramatic gorge of Gordale Scar. 

There is a bit of scrambling involved if you take the direct route up the scar, but there’s a more mellow way around for those of you who’d rather avoid rock hopping. It’s a popular walk (especially on weekends) but it’s well worth the company for the scenery alone.

• Average Time: 3.5 to 4 hours
• Distance: 11 km (6.8 miles)
• Altitude Loss/Gain: Approx. 300 meters (980 feet)
• Highlights: Malham Cove’s limestone pavement, waterfall at Janet’s Foss
• Don’t Miss: Look back from the top of Malham Cove (the view is legendary!)

“First time on the trail? Hiking for Beginners has your back.”

Whitby to Robin Hood’s Bay Loop (Best Coastal Hikes from Yorkshire Towns)

This is a spectacular coastal path with sea breeze and cliffside views and more than one reason to stop for fish and chips. This circular trail starts in Whitby and follows the Cleveland Way along the cliffs to the smuggler’s haven of Robin Hood’s Bay, and then it loops back inland via quiet lanes and old rail tracks. 

You can expect to see wild views and charming cafés, which alone offers plenty of reasons to linger! It’s a moderately challenging walk with a mix of elevation and terrain, but there’s nothing too technical. Just don’t forget to check tide times if you’re tempted to explore the beach.Long coastal walks can also be surprisingly dehydrating, so it’s helpful to know how much water to take on a hike before you head out

• Average Time: 5 to 6 hours
• Distance: 14.5 km (9 miles)
• Altitude Loss/Gain: Approx. 360 meters (1,180 feet)
• Highlights: Cliff-top views, historic fishing villages
• Don’t Miss: The old railway line on the return (it’s peaceful and a total contrast to the coast path!)

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

Brimham Rocks Circular (Best Day Hike for Families in North Yorkshire)

This hike is absolutely perfect for young explorers or adults who still enjoy climbing a good rock, the Brimham Rocks circular is more than a walk. It’s a natural playground! This short route winds around one of North Yorkshire’s quirkiest geological wonders, where centuries of wind have (literally) sculpted massive gritstone formations into strange and almost storybook-esque shapes.

The walk can be extended with woodland and moorland loops, or it can also be kept short for little legs.If you’re just getting started, this is one of the best routes for beginner hikers. Our guide to hiking for beginners covers everything you need to know before hitting the trail. There’s a visitor centre, picnic areas, and plenty of flat space to wander off the path and explore safely.

• Average Time: 1.5 to 2 hours
• Distance: 4 km (2.5 miles)
• Altitude Loss/Gain: Minimal
• Highlights: Giant rock formations, family-friendly terrain
• Don’t Miss: The view toward Nidderdale from the upper rocks (it’s a real stunner)

Rosedale Abbey Ironworks Loop (Best Mountain Hikes from the North York Moors)

Tucked in the heart of the North York Moors, this underrated circular walk gives you both history and heather. Starting in Rosedale Abbey, the trail climbs onto the high moor and follows the old ironstone railway line (which is flat and easy underfoot) before looping back via stone walls and sheep-filled fields.

This one’s a brilliant way to experience the big skies and open landscapes of the Moors without too much of a slogIf you’re working up to longer walks like this one, these tips to improve your hiking stamina can make the climb feel much easier.. It’s also relatively quiet compared to more famous spots, especially midweek.

• Average Time: 4 to 5 hours
• Distance: 12.5 km (7.8 miles)
• Altitude Loss/Gain: Approx. 350 meters (1,150 feet)
• Highlights: Ruined ironworks, purple moorland in late summer
•  Don’t Miss: Stopping at Dale Head Farm Tea Garden on the way down

“Plan less, walk more.” Pick a route, set your pace, and let Europe unfold under your boots: grab your free Walking Holiday ebook today”

Ilkley Moor and Twelve Apostles Stone Circle (Best Quick Walks out of West Yorkshire)

This short but rewarding circular starts from Ilkley and heads straight onto the moor, with a climb that gets the heart going and views that more than pay off. The highlight is the Twelve Apostles, a Bronze Age stone circle tucked away on the open moorland. On clear days, you can see for miles across Wharfedale.

The paths are well-trodden, but the weather can roll in quickly too.Wearing the right layering system for hiking makes a huge difference when temperatures change on exposed moorland. It’s a solid leg-stretcher for an afternoon and ideal for those of you who will be based in or around Leeds or Bradford.

• Average Time: 2 to 2.5 hours
• Distance: 6 km (3.7 miles)
• Altitude Loss/Gain: Around 250 meters (820 feet)
• Highlights: Panoramic views, ancient stone circle
• Don’t Miss: A pint in one of Ilkley’s cosy pubs when you finish

Aysgarth Falls and Castle Bolton Circular (Best for Dogs and History Buffs)

Waterfalls, a ruined castle, and rolling farmland make this one a hit for walkers and four-legged companions alike. The circular route links the spectacular Aysgarth Falls with the dramatic remains of Bolton Castle, which passes through sleepy villages and open fields. There are a few stiles, but most dogs will navigate them easily.

It’s an easy-to-moderate walk with wide views and lots of photo opportunities. Bring a packed lunch because you’re gonna find plenty of scenic picnic spots along the way.

• Average Time: 3.5 to 4 hours
• Distance: 10.5 km (6.5 miles)
• Altitude Loss/Gain: Approx. 280 meters (920 feet)
• Highlights: Aysgarth Falls, medieval castle ruins
• Don’t Miss: The café near the lower falls (strong tea, proper cake)

Looking for even more spectacular trails? Discover our collection of the best hikes in England, featuring everything from coastal walks to mountain adventures.

Where to Next?

• Ultimate Guides – your gateway to hiking across Europe
• Hikes & Trails – curated lists of the best hikes and local gems
• Walking Holidays – extended journeys for when a single day just isn’t enough
• General Blog – all the extras: gear reviews, planning tips, and personal stories

Exploring Yorkshire 

Yorkshire’s circular walks are the stuff of hiking legend. They’re designed for people who love to wander but who also like to finish where they started (and often with muddy boots and a satisfied grin).

If Yorkshire has inspired your next walking holiday, consider tackling another classic English trail like the Cotswolds Way, one of the country’s most iconic long-distance walks.