If like us you like nothing more than getting out and exploring nature, then you’ll love these circular walks in North Yorkshire. The Yorkshire walks will take you along the coasts of Yorkshire, up to its highest peak, and through some of its most beautiful woodland.
North Yorkshire has both the Yorkshire Dales and the North York Moors national parks to enjoy as well as some established routes like the Pennine Way, Cleveland Way, and more.
1. The Ingleton Waterfalls From Ingleton
This circular walk in North Yorkshire is one of God’s Own Country’s most popular waterfall and woodland walks – maybe even the UK’s.
With its mixture of five beautiful waterfalls and eight water spots in total, Ingleton waterfall trail is a fairytale-esque jaunt through incredible scenery following the River Twiss and the River Doe from the Ingleton starting point.
Plunging 14-metres, budding photographers can enjoy Thornton Force at the start of the trail. the delicate waterfall is surrounded by rocky terrain, which makes for the perfect place to find a spot and settle down for a quick picnic and refresh.
Others such as Pecca Falls have their own unique aspects to be enjoyed also. Ingleton Waterfall Trail, Broadwood Entrance, Ingleton, Carnforth LA6 3ET
2. Rogan’s Seat & Water Crag From Keld
Found in the Yorkshire Dales, Rogan’s Seat is the highest fell in the Dales sitting at 672m high As it is so high up you can expect amazing 360-degree views.
The 11-mile circular walk takes you on to some of Yorkshire’s most popular national trail routes such as the Pennine Way,
The Pennine Way & Wainwright’s Coast to Coast Walk. You’ll walk along the River Swale and enjoy Kisdon Force waterfall whilst also taking in the vast beauty of the Yorkshire Dales moorland, and its classic drystone walls.
Why not head to Keld Lodge for a well-earned pint afterwards? Keld Lodge, Keld, Richmond DL11 6LL
3. Whernside From Ribblehead Viaduct
The circular walk from the Ribblehead Viaduct over one of the ‘Yorkshire Three Peaks is around an 8.4 miles circular walk. It will take you to the top of Whernside where you can enjoy some awe-inspiring views of the Yorkshire landscape.
This long walk has rugged terrain and some steep climbs, but the view from its peaks is well worth the effort.
Enjoy the lush countryside and rolling hills before heading back down to start back at Ribbleshead Valley. Ribblehead Valley, Low Sleights Rd, Carnforth LA6 3AU
4. Staithes, Port Mulgrave and Hinderwell
This North Yorkshire circular walk, which is located along the Yorkshire coast not far from Whitby, is around 4.3 miles and provides some breathtaking views of the charming seaside community.
The route departs from the settlement and travels south along the North Yorkshire coast to Port Mulgrave, before turning inland to Hinderwell. Following there, there is a nice forest trail that leads through a nature reserve before returning to Staithes.
Once you get to Staithes have a drink and some food in the famous Cod & Lobster. Staithes, Saltburn-By-The-Sea, TS13 5EA
5. Bolton Abbey Estate Country Park
Bolton Abbey stepping stones are probably the most famous stepping stones in the UK, and they are a must-see for any Yorkshire local. You can take a lovely 7.2 miles circular forest and river walk across the Bolton Abbey Estate grounds before attempting the tricky stepping stones. Keep an eye out for the shaky stone. You definitely don’t want to tumble into the river.
The stroll passes by the remnants of the priory and a few cafes along the way. The hike can be cut short due to the numerous bridges that cross the Wharfe. Bolton Abbey Car Park, 6EX, B6160, Skipton
6. Goathland Moors & Waterfalls
Goathland is not just a home for classic soap Heartbeat. For hundreds of years, travellers have been drawn to the picturesque settlement in the North York Moors National Park.
The distinctive and stunning Mallyan Spout waterfall is one of the attractions that has drawn visitors to the picturesque area.
The 3-mile North Yorkshire circular walk begins at Scar Wood and follows the River Esk, passing by the Mallyan Spout, which has captivated visitors since the Victorian era.
There are signs along the road, so you shouldn’t have any trouble finding them. Mallyan Spout Car Park, Goathland, Whitby YO22 5AW
Read More: 16 Of The Best Yorkshire Dales Circular Walks
7. Brimham Rocks & Pateley Bridge
Another of the circular walks in North Yorkshire ventures through the Yorkshire Dales national park. Brimham Rocks is a spectacular labyrinth of rocks that is great for families to potter around. Pateley Bridge is an idyllic place and is also home to the UK’s oldest sweet shop.
This walk, which starts and finishes at Brimham Rocks follows the River Nidd to Pateley Bridge and then back along the Nidderdale Way.
If you don’t fancy doing the whole 8-mile walk, there are buses from Pateley Bridge that run daily allowing you to walk only portions of the route. Check the schedules ahead of time. Brimham Rocks Car Park, Brimham Moor Road, Summerbridge, Harrogate HG3 4DW
8. Whitestone Cliff From The Kilburn White Horse
Near Thirsk in the North York Moors national park, you’ll find the famous Kilburn White Horse where you’ll start this 6-mile North Yorkshire circular walk.
The walk takes in some lush forests and the glistening Gormire Lake among other natural wonders. It takes in part of the famous Cleveland Way coastal walk as well as some of the finest views the Hambleton Hills region has to offer.
Visit Thirsk home of the famous Skeldale practise made famous by author James Herriot otherwise known as Alf Wight. Kilburn White Horse, Low Town Bank Rd, Kilburn, Thirsk YO61 4AN
9. Buckden Pike From Buckden
Buckden Pike’s summit affords beautiful views of North Yorkshire, but it does not draw the crowds like the three peaks and other prominent spots do.
The 5-mile circular walk is a beautiful alternative to some of the more popular routes in the Yorkshire Dales and has all the classic scenes such as the drystone walls, panoramic views, and old-fashioned countryside you’d expect from the national park.
After you walk, why not enjoy a pint at The Buck Inn, which you’ll find in Buckden? The Buck Inn, Skipton BD23 5JA
10. Pen-y-ghent From Dale Head
This straightforward route in North Yorkshire takes in one of the three peaks heading from Dale Head to the top of Pen-y-ghent, via the Pennine Way path, and then the same path is retraced back to the start.
On its journey up from Horton in Ribblesdale, the trail goes by Churn Milk Hole before joining the Pen-y-ghent walk. The panoramic views from the summit are breathtaking.
One of North Yorkshire’s most famous treks is the 4-mile circular walk. Pen-y-Ghent Café, Horton in Ribblesdale, Settle, North Yorkshire, BD24 0HE
11. Janet’s Foss, Gordale Scar & Malham Cove From Malham
One of the Yorkshire Dales’ most popular circular walks, the North Yorkshire walk takes you from Malham to Janet’s Foss, on to the iconic Gordale Scar, and up to Malham Cove.
The fractured limestone produces a unique spooky environment that is a breathtaking vantage point from which to overlook God’s Own Country.
Head down the steep steps to complete your 4-mile circular back to Malham where you can visit one of its lovely pubs such as the Lister Arms for a well-earned bevvie. Malham, Skipton BD23 4DJ
12. Hardraw Force From Hawes
One of England’s most distinctive waterfalls can be found hidden behind a bar in the Yorkshire Dales. Unlike other waterfalls, which require a harrowing Lord of the Rings-style adventure to reach, Hardraw Force Waterfall — England’s highest single-drop waterfall – can be reached after a quick half-hour hike.
If you want to drive to the Green Dragon Inn car park and walk to the waterfall from there, it’s only a few minutes walk after paying your £4 admission fee at the entrance.
Alternatively, you might make a day of it and walk from Hawes through the picturesque Yorkshire Dales for a few kilometres to reach the waterfall’s unusual location. Main St, Hawes DL8 3QL
Read More: 15 Incredible Waterfall Walks In Yorkshire To Discover
