Yorkshire isn’t just rolling hills, cozy villages, and windswept moors. It’s also home to some of the most spectacular waterfalls in England. It’s neatly tucked into valleys, gorges, and woodland glades that feel like they were designed for walkers.
For those of you who enjoy a bit of drama with your stroll, nothing beats following a trail that suddenly delivers the roar of water crashing down over rocks. These are the kinds of walks that make you stop mid-step, pull out your camera, and take a deep breath of cool and misty air.
If you’re planning a wider walking trip around the country, our guide to hiking in England is a useful place to start.
Each of these waterfall walks offers a little extra. Sometimes it’s the history of the area, sometimes it’s the wildlife you might spot along the way, and sometimes it’s simply the joy of standing somewhere that feels untouched and timeless. If you’re looking to explore beyond Yorkshire, there are plenty of best hikes in England worth adding to your list.
Here are six of the best waterfall walks in Yorkshire. If you’re planning your day around distance and walking time, knowing your typical hiking pace can also help you work out how long a route may take.
- Aysgarth Falls (Best Day Hike for Families in Wensleydale)
- Hardraw Force (Best Quick Walk out of Hawes)
- Janet’s Foss (Best Beginners Hike near Malham)
- Ingleton Waterfalls Trail (Best Full Day Hike from Ingleton)
- Falling Foss (Best Day Hike for Dogs near Whitby)
- Cautley Spout (Best Mountain Hike from Sedbergh)
- Why These Walks Stick With You
- Where to Next?
Aysgarth Falls (Best Day Hike for Families in Wensleydale)
Aysgarth Falls is one of the most famous waterfalls in Yorkshire, and for good reason! It’s not just one waterfall but three that are spread out along a mile of the River Ure, and with each section giving you a different perspective on the river’s power.
The falls have been attracting visitors for centuries, and even made a cameo in the 1991 adventure film Robin Hood: Prince of Thieves. For those of you who like a walk that combines natural beauty with a bit of movie trivia, this is a perfect pick.
- Average Time: 2 to 3 hours
- Distance: 4 miles/6.5 km
- Altitude Gain: Around 400 feet/122 m
- Highlights: The three falls (Upper, Middle, and Lower) each with their own charm.
- Don’t Miss: The riverside woodlands that are especially magical in spring with carpets of wildflowers.
Hardraw Force (Best Quick Walk out of Hawes)
Hardraw Force is the highest single-drop waterfall in England, and it plunges 100 feet in dramatic fashion. The walk to the falls is short and easy, which makes it accessible for most walkers, yet the impact of the waterfall is huge.
You can stand directly in front of it and feel the spray on your face, or circle around to take in different angles. For those of you who enjoy a big reward without a long hike, Hardraw is a must.
- Average Time: 1 to 1.5 hours
- Distance: 2 miles/3.2 km
- Altitude Gain: Minimal, about 150 feet/45 m
- Highlights: The sheer height of the waterfall and the dramatic amphitheater-like setting.
- Don’t Miss: The nearby Green Dragon Inn, which you walk through to access the falls (one of the quirkiest entrances to a natural wonder)
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Janet’s Foss (Best Beginners Hike near Malham)
Janet’s Foss is a small but enchanting waterfall that is tucked into woodland near Malham. Legend says it was once home to Janet, the queen of the local fairies, and it certainly has a magical feel to it that you should feel when you are there.
The waterfall tumbles into a clear pool that has become a favorite wild swimming spot in summer.For families or beginners looking for a gentle walk with a touch of myth and mystery, this one is ideal. If you’re new to walking trails, these hiking tips for beginners can also help you feel more prepared before setting out.
- Average Time: 1 to 2 hours
- Distance: 2.5 miles/4 km
- Altitude Gain: Around 200 feet/60 m
- Highlights: The fairy-tale setting, complete with mossy rocks and dappled woodland.
- Don’t Miss: Dipping your toes in the pool on a hot day…it’s chilly, but refreshing.
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Ingleton Waterfalls Trail (Best Full Day Hike from Ingleton)
The Ingleton Waterfalls Trail is the ultimate waterfall walk in Yorkshire. This circular trail leads you past no fewer than six waterfalls, and each one is entirely different in character from roaring cascades to delicate trickles spilling into deep pools.
The path winds through wooded gorges and open moorland, which makes it one of the most varied and satisfying walks in the region. For those of you who like a hike that feels like a grand tour of nature’s highlights, this is the one.
- Average Time: 4 to 5 hours
- Distance: 4.5 miles/7 km
- Altitude Gain: About 800 feet/244m
- Highlights: Thornton Force (the most dramatic of the lot) has lots of water thundering over limestone cliffs.
- Don’t Miss: The changing scenery, from deep gorges to airy hilltop (it’s a walk that never gets dull.
Falling Foss (Best Day Hike for Dogs near Whitby)
Falling Foss is a gorgeous 30-foot waterfall hidden in Sneaton Forest near Whitby. The walk to the falls is perfect for those with four-legged friends, as the forest trails are shaded, varied, and full of places for dogs to splash about.
The falls themselves are as photogenic as they come, and they tumble gracefully into a pool that is surrounded by greenery. For those of you who enjoy walks that balance beauty with dog-friendly fun, this one’s a winner!
- Average Time: 2 to 3 hours
- Distance: 3 miles/4.8 km
- Altitude Gain: 350 feet/107 m
- Highlights: The picturesque waterfall framed by the woodland.
- Don’t Miss: A stop at the Falling Foss Tea Garden for homemade cakes and a well-earned brew.
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Cautley Spout (Best Mountain Hike from Sedbergh)
Cautley Spout may technically sit on the edge of the Yorkshire Dales rather than the Moors, but it’s just too good to leave off the list. It’s the highest cascading waterfall in England, and it plunges nearly 650 feet down a rugged hillside.
The walk up to the falls is steep and demanding, but the payoff is spectacular. For those of you who like a hike that feels truly wild and mountain-like, this one delivers in spades.
- Average Time: 4 to 6 hours
- Distance: 6 miles/9.6 km
- Altitude Gain: Around 1,600 feet/488m
- Highlights: The towering cascade that tumbles down in stages, making it one of the most dramatic sights in England.
- Don’t Miss: The sweeping views back across the Howgill Fells as you climb (the landscape feels both remote and timeless)
Before heading out on one of these walks, it’s worth making sure you have everything you need for the day. Our guide to day-hiking essentials covers the practical things to pack before setting off.
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
Why These Walks Stick With You
What makes waterfall walks in Yorkshire so memorable is the combination of movement, sound, and setting. A ridge walk or a moorland stroll is wonderful, but there’s something about hearing the roar of water long before you see it that adds a sense of anticipation!
Wherever you choose to walk, remember to follow good trail etiquette and leave these beautiful places just as you found them. And while wet weather might not sound ideal, hiking in wet weather can have its own appeal, especially when rain gives waterfalls an extra boost.
