An epic nine-day itinerary for an unforgettable Yorkshire adventure
The ultimate Yorkshire road trip awaits…
If you’re a road trip lover and you haven’t explored Yorkshire yet – you are missing out! Yorkshire is one of the UK’s ultimate road trips, with its dramatic dales, wild heather-covered moors and breathtaking coastline.
Forget all those misconceptions about it being a bit “grim up north”. This incredible county might just surprise you – hidden gems, dramatic landscapes, unforgettable roads, and the kind of places that make you want to pull over every five minutes.
It’s got everything you could want, and as a bonus, it’s very campervan and motorhome friendly!
In this blog, I’m sharing a nine-day itinerary for what I believe is the ultimate road trip through the Yorkshire Dales, moors and coast!
This trip is one I’m truly passionate about, as you may know if you came to the recent Camping, Caravan and Motorhome Show at the NEC in February. I was a guest speaker at the event, giving talks about this epic nine-day trip. If you missed it, fear not, I’ve got you covered here!
Why Yorkshire needs to be on your list…
Yorkshire is huge. It covers around 11,900 square kilometres – that’s roughly 4,600 square miles – making it England’s largest county.
The Yorkshire Dales National Park is simply jaw-dropping, with rolling green hills, dramatic limestone scars, winding stone-wall-lined roads, and waterfalls that stop you in your tracks.
Then you head east to the North York Moors National Park, where the landscape changes completely. Suddenly, you are surrounded by wide open heather moorland, vast skies, and twisting roads that feel like they were built for driving. You’ll discover ancient abbeys, hidden valleys, and even more waterfalls!
It feels wild. Vast. Untamed. And that’s before we even reach the coast! So, this nine-day road trip can easily be increased to 14 days if you want to take more time to explore.
In this trip, we’ll start on the edge of the Yorkshire Dales in Harrogate, and finish on the coast in Bridlington.
Day 1
Harrogate to Bolton Abbey
Day one starts gently in Harrogate – a beautiful spa town known for its elegant architecture and Victorian charm. You can’t visit without popping into Bettys Tea Room. I went last year with my wife, and it was all very civilised, with piano playing, fancy china, and endless tiny sandwiches. That was until I spilled an entire pot of tea and quickly realised I might not belong there!
Just down the road you’ll find the beautiful Knaresborough, with its dramatic viaduct and colourful riverside houses.
After that, it’s time to head into the countryside. Brimham Rocks is an incredible and easy place to explore, with surreal rock formations shaped over millions of years. You don’t need to be super fit to enjoy it, and the views across Nidderdale are wonderful.
Next up is the charming town of Pateley Bridge, home to the oldest sweet shop in England. And to finish the day, the Coldstones Cut offers something completely unexpected and epic. This is a huge public artwork perched above a working quarry. It’s dramatic, slightly bizarre, and the scale of it really takes you by surprise.
Then it’s off to your campsite for the evening, possibly the Caravan and Motorhome Club Bolton Abbey site – and pop the kettle on!
Day 2
Bolton Abbey to Malham Cove
Day two starts at Bolton Abbey, one of the Dales’ best-loved spots. Cross the famous stepping stones and take in the dramatic ruins of this 12th-century Augustinian priory. It’s a proper Yorkshire scene.
The next stop is the village of Hebden, home to a charming little suspension bridge over the river.
If you want picture-perfect Yorkshire, Grassington is the one. Stone cottages, cobbled square, pure Dales charm. It even doubles as Darrowby in All Creatures Great and Small. Nearby Linton Falls is well worth the short walk too.
After that, get ready for one of the most remarkable landscapes in the UK by taking on one of my favourite hikes…
It starts with Janet’s Foss, a beautiful waterfall said to be home to a fairy named Janet. Then continue to Gordale Scar – a towering limestone gorge that will genuinely make your jaw drop.
Just when you think the day can’t possibly top that, Malham Cove appears, a huge, curved limestone amphitheatre rising from the valley floor. Harry Potter fans might recognise it from the Deathly Hallows Part 2. Standing on top, looking out across the Dales, it feels like Pride Rock from The Lion King. The views are incredible!
Day 3
Malham Cove to Ingleton
Day three is all about scale – big landscapes, powerful waterfalls, and moments you won’t forget.
It starts just above Settle, where you’ll often spot a local herd of Highland cows grazing by the roadside. These wee beasties are incredibly photogenic!
Settle itself is a charming market town with great pubs, cosy eateries and a very tempting ice cream shop.
Not far away is Scaleber Force. The parking for this one is slightly awkward, but it’s a very easy and rewarding waterfall to visit.
Next, take the short but fairly steep walk to Catrigg Force. Believe me, it’s worth every step! The waterfall is beautiful, but it’s the views across the Dales on the approach that really stay with you. I remember visiting in late spring with about 90 minutes of sunlight left – golden light spilling across the rolling hills as far as the eye could see. It was one of those moments where you suddenly realise just how vast and epic Yorkshire really is.
If you’ve got time, White Scar Cave – the UK’s longest show cave – is a brilliant underground adventure, with passionate guides who really bring it to life.
And if you’re feeling energetic, why not take on the Ingleton Waterfalls Trail? It’s around 8km, and it’ll test the knees a little, but you’ll pass waterfall after waterfall with incredible Dales scenery throughout.
Day 4
Ingleton to Hawes
Day four begins at Ribblehead Viaduct – and if there’s one place I’d tell you to set your alarm for, it’s here. On a clear morning, sunrise is magical. The arches glow, shadows stretch across the hills – it’s pure drama. And if you fancy staying nearby, the Station Inn does a great pub stopover with proper hearty food.
From here, you can hike up Whernside – the highest peak in Yorkshire and one of the famous Three Peaks. Big views, big sense of achievement.
Food lovers should head to the Wensleydale Creamery in Hawes, home to the famous cheese adored by Wallace and Gromit. You can tour the creamery or just head straight to the café. I had a simple cheese on toast with tomato chutney – and I’ve genuinely considered driving four hours just to have it again.
Hawes itself is full of Dales charm, and just down the road is Hardraw Force – England’s highest single-drop waterfall and a filming location for Robin Hood: Prince of Thieves. It feels like a natural amphitheatre, with the waterfall as the headline act.
If you enjoy a scenic driving road, the iconic Buttertubs Pass is next – twisting, dramatic, and made for road trips.
And to finish the day, head to the wide, powerful Aysgarth Falls, another Robin Hood filming spot!
Day 5
Hawes to Bedale
Start at Cauldron Falls – a beautiful, accessible waterfall right in the heart of West Burton. It’s a lovely, peaceful way to begin the day.
After that, it’s decision time: Bolton Castle or Richmond Castle. Both are incredibly impressive and packed with history, but if I’m honest, Bolton Castle just edged it for me… mainly because of the tearoom’s flapjack!
Your final stop in the Dales is Masham. The market square here is everything you imagine when you think “traditional Yorkshire village” – charming, welcoming, and home to a couple of cracking pubs.
Day 6
Bedale to Pickering
Welcome to the North York Moors! You’ll begin at Sutton Bank, famously described by James Herriot as “the finest view in England”. And when you stand there looking across the Vale of York, you’ll understand why.
From here, head to Helmsley – instantly recognisable by those traditional red roof tiles that define this part of Yorkshire. It’s a brilliant gateway to the Moors.
And if you’re a foodie, stop at the local bakery to pick up an award-winning sausage roll!
This area is packed with history too. The dramatic ruins of Rievaulx Abbey are unforgettable, and the Ryedale Folk Museum offers a fascinating glimpse into rural life through the centuries.
You’ll finish the day passing through the historic town of Pickering, a key stop on the North Yorkshire Moors Railway line.
Day 7
Pickering to Beck Hole
A journey on the North Yorkshire Moors Railway is a brilliant way to break up the road trip – proper nostalgia, rolling countryside, and that unmistakable steam whistle.
You might stop at Goathland Station, famous as a filming location in Harry Potter and the setting for TV’s Heartbeat.
From Goathland, it’s a short woodland walk down to Mallyan Spout, a lovely waterfall tucked into a lush green valley.
If you’re after something even more dramatic, head to Thomason Foss. It’s an easy walk of around 30 minutes, following a path that runs alongside the railway – so you might even see a steam train passing as you go.
Day 8
Beck Hole to Robin Hood’s Bay
You’ve reached the last leg of this epic nine-day Yorkshire road trip: The coast!
Start in Staithes, which is one of the most picturesque villages in the UK. Red-roofed cottages tumble down toward the harbour, backed by towering cliffs. It’s an absolute must-see.
Then it’s cameras out at Runswick Bay and Sandsend Beach to capture the sweeping, dramatic scenery – the Yorkshire Coast at its finest. This was the point on my trip where I genuinely thought, “How can anyone have a bad word to say about Yorkshire?”
That feeling only grew when I reached Whitby. With its famous abbey towering above the town, Whitby is full of character – narrow alleys, buzzing pubs, great food, and friendly people.
If you have time, you can head to Falling Foss, a beautiful woodland waterfall. Just stick to the paths… I didn’t – and paid the muddy price.
Finish the day in Robin Hood’s Bay, a postcard-perfect village with steep cobbled streets and timeless charm.
Day 9
Robin Hood’s Bay to Bridlington
The final day of your epic Yorkshire road trip! Start off in Scarborough – a classic Victorian seaside town packed with arcades, pubs and proper fish and chip shops. It’s nostalgic, lively, and full of character.
From there, head south past Cayton Bay and Filey Beach before arriving at the dramatic coastline of Thornwick Bay and North Landing.
If you’ve never explored this stretch of the Yorkshire coast, prepare to be amazed. Towering cliffs, rugged coves and incredible wildlife, including puffins, razorbills, seals, and if you’re lucky, even dolphins.
But the true crescendo? Flamborough Head. For me, as someone who loves photography, this place is unbeatable. Sea arches, sea stacks, turquoise water, towering limestone cliffs, and one of the UK’s largest seabird colonies. It’s raw, powerful, and unforgettable.
Your journey ends in Bridlington – home to Bridlington Spa and plenty of spots to eat, drink and reflect on an epic Yorkshire road trip.
Road Trip Yorkshire: The Guidebook
For even more itineraries and travel inspiration around Yorkshire, look no further than my guidebook! Road Trip Yorkshire is packed with awe-inspiring places to visit, as well as tips on where to stay and eat. What’s more, it includes handy QR codes and what3words references to make your Yorkshire road trip an absolute breeze!
