Yorkshire is a walking country through and through. In fact, there is something about this patch of England that makes a pair of boots almost compulsory!
It has it all: wind-swept moors that seem to go on forever, cliffs that stand guard over the sea, and valleys where rivers are carving their way through rock and woodland.
For those of you who like your exercise served with a side of jaw-dropping scenery, this part of the world is a dream.
These six walks that we’re about to cover here today range from short and sweet to full-day adventures, but each one with a character of its own and a few surprises along the way.
Yorkshire is one of England’s premier hiking destinations, but it’s just one part of the country’s incredible walking scene.
If you’re planning a wider adventure, check out our complete guide to hiking in England for even more trails and destinations.
- Best Day Hike for Families: Ingleton Waterfalls Trail
- Best Full Day Hike from Malham: Malham Cove and Gordale Scar
- Best Beginner Hike near Middlesbrough: Roseberry Topping
- Best Quick Walks near Thirsk: The Cleveland Way at Sutton Bank
- Best Coastal Hikes from Whitby: Staithes to Runswick Bay
- Best Day Hikes near Leeds: Ilkley Moor
- Walking in Yorkshire
- Where to Next?
Best Day Hike for Families: Ingleton Waterfalls Trail
The Ingleton Waterfalls Trail is a crowd pleaser that bundles a little bit of everything into just a few miles.
Waterfalls, gorges, woodlands, limestone cliffs, and a dash of Yorkshire charm.
It begins in the village of Ingleton and then it loops its way through a deep river valley before climbing past a string of waterfalls.
As the trail crosses privately managed land and has set opening times and an entrance fee, check the official Ingleton Waterfalls Trail website before visiting.
Children love it because there is always another fall around the bend, and grown-ups love it because the path is easy to follow and full of excuses to stop and take in the view.
- Average time: 2.5 to 4 hours
- Distance: 7 km (4.5 miles)
- Difficulty: Easy to moderate
- Start/End: Ingleton Waterfalls Trail entrance, Ingleton
- Route type: Circular
- Elevation gain: 170 m (560 ft)
- Highlights: Thornton Force waterfall and Baxenghyll Gorge
- Don’t miss: Thornton Force, which is the big showstopper waterfall framed by a natural limestone stage
“First time on the trail? Hiking for Beginners has your back.”
Best Full Day Hike from Malham: Malham Cove and Gordale Scar
This walk has more drama than a TV soap and it is all packed into a single day.
Starting in the picture-postcard village of Malham, the path leads to Malham Cove, which is a sheer limestone cliff that looks like it has been dropped into the landscape from nowhere.
Above it lies a strange jigsaw of limestone pavement, which is a place where cracks and grooves run in all directions.
From there, the walk heads to Gordale Scar, which is a hidden gorge where the stream pours over rocky ledges in a tumble.
Add in Janet’s Foss (a smaller waterfall tucked away in the woods) and it is like a highlights reel of Yorkshire geology.
- Average time: 4 to 6 hours
- Distance: 12 km (7.5 miles)
- Difficulty: Moderate; more challenging if scrambling directly through Gordale Scar
- Start/End: Malham village
- Route type: Circular
- Elevation gain: 350 m (1,150 ft)
- Highlights: Malham Cove, the view from the top of the limestone pavement
- Don’t miss: The walk through Gordale Scar with cliffs towering on both sides
Since this is one of Yorkshire’s longer walks, it’s worth knowing how much water to take on a hike before setting off.
“Plan less, walk more.” Pick a route, set your pace, and let Europe unfold under your boots: grab your free Walking Holiday ebook today”
Best Beginner Hike near Middlesbrough: Roseberry Topping
Do not be fooled by its size. Roseberry Topping might not be the biggest hill around, but it has a personality all of its own.
With its sharp profile rising out of the Cleveland plain, it feels like a mountain in miniature.
The paths are clear, the climb is short, and before you know it you will be finding yourself standing on top looking out across the North York Moors and Teesside.
For anyone who’s wanting a quick hit of fresh air (and a taste of achievement without losing the rest of the day), this is the perfect start.
- Average time: 1.5 to 2 hours
- Distance: 5 km (3 miles)
- Difficulty: Easy to moderate; short but steep near the summit
- Start/End: Roseberry Topping car park, Newton-under-Roseberry
- Route type: Circular
- Elevation gain: 230 m (750 ft)
- Highlights: Wide open views from the top
- Don’t miss: Catching a sunset if timing allows, the whole landscape glows in the evening
If this is your first proper hike, our beginner’s hiking guide covers everything you need to know before hitting the trails.
🗒️ Free Checklist: “Never forget the essentials — grab your free Ultimate Hiking Packing List.”
Best Quick Walks near Thirsk: The Cleveland Way at Sutton Bank
Sometimes the best views require the least effort, and Sutton Bank is proof of that.
Perched on the edge of the North York Moors, it offers a natural balcony looking out across the Vale of Mowbray.
The Cleveland Way National Trail runs right along the edge and a short circuit from the visitor centre gives a taste of its best bits.
It is easy to see why James Herriot called this “the finest view in England”.
The land just drops away in front of you and on a clear day it feels like the whole of Yorkshire is laid out at your feet.
- Average time: 1 to 2 hours
- Distance: 5 to 7 km (3 to 4.5 miles)
- Difficulty: Easy
- Start/End: Sutton Bank National Park Centre
- Route type: Circular
- Elevation gain: Minimal once you are up on the escarpment
- Highlights: Endless views over the Vale of York
- Don’t miss: The Kilburn White Horse, a huge chalk carving cut into the hillside
If you enjoy walking sections of England’s National Trails, you’ll also love The Cotswolds Way, another iconic long-distance route with beautiful countryside views.
Best Coastal Hikes from Whitby: Staithes to Runswick Bay
For those who love a sea breeze and the sound of gulls, this stretch of the Cleveland Way is a beauty.
It links two of Yorkshire’s prettiest fishing villages (Staithes and Runswick Bay) with a route that follows the top of the cliffs.
On one side the North Sea stretches to the horizon, and on the other, patchwork fields.
You can expect grassy paths, wide views, and plenty of fresh air.
Both Staithes and Runswick Bay are worth a wander, so you should leave time to poke around narrow cobbled streets and take in the old fishing cottages.
The official National Trails route guide provides a map and further details for the linear walk between Runswick Bay and Staithes.
- Average time: 3 to 4 hours one way
- Distance: 6.5 km (4 miles) one way
- Difficulty: Easy to moderate
- Start: Staithes
- End: Runswick Bay
- Route type: Linear
- Elevation gain: 200 m (650 ft) with short up-and-down climbs
- Highlights: Clifftop views of the sea and headlands
- Don’t miss: Low tide at Runswick Bay, which reveals a wide sandy beach perfect for a post-walk rest
Best Day Hikes near Leeds: Ilkley Moor
Ilkley Moor is where the city meets the wild.
One minute you are in Ilkley with its cafés and shops, and then the next you are up on the open moor with heather stretching out in every direction.
The classic route starts from town and then climbs past the famous Cow and Calf rocks, before it continues to the higher ground where the views stretch over Wharfedale and beyond.
When the heather is in bloom, the hillsides turn purple and the whole place hums with bees. It is as Yorkshire as a cup of tea!
- Average time: 3 to 5 hours depending on how far you roam
- Distance: 8 to 12 km (5 to 7.5 miles)
- Difficulty: Moderate
- Start/End: Ilkley town centre
- Route type: Circular
- Elevation gain: 250 m (820 ft)
- Highlights: The gritstone Cow and Calf rocks, wide open moorland
- Don’t miss: The views from the top of the moor looking down into Ilkley and across Wharfedale
Planning to tackle more challenging routes? Learning how to improve your hiking stamina can make longer walks much more enjoyable.
Walking in Yorkshire
Yorkshire does not make you choose between moorland or coastline or waterfalls or woodland. In just a few walks, you can have all of them!
In just a few walks, you can have all of them!
Where to Next?
Continue exploring Yorkshire with these regional guides, specialist walk collections and more demanding routes.
More Yorkshire Walks
Hiking in Yorkshire: A Walker’s Guide to Northern England
Get a broader overview of Yorkshire’s major walking areas, landscapes and standout trails.
Best Circular Walks in Yorkshire
Find more routes that return you conveniently to the same village, town or trailhead.
Best Waterfall Hikes in Yorkshire
Discover woodland trails, limestone gorges and some of the county’s most impressive waterfalls.
Explore Yorkshire’s Wilder Side
Hiker’s Guide to the North York Moors
Plan walks across open moorland, historic villages and the dramatic Yorkshire coast.
Best Walks in the Yorkshire Moors
Compare more of the best short walks and longer routes across Yorkshire’s moorland landscapes.
Yorkshire Three Peaks Challenge
Take on a tougher full-day challenge across Pen-y-ghent, Whernside and Ingleborough.
