Van Miles

Helmsley

Helmsley is one of those Yorkshire towns that’s lovely just to wander around, but there’s actually enough here to make a full day of it.

The market square is surrounded by independent shops, cafés and pubs, and Helmsley Castle and the Walled Garden are both within easy walking distance.

One of the best things to do from Helmsley is the walk to Rievaulx Abbey. The route starts near Helmsley Castle and follows part of the Cleveland Way through fields, woodland and countryside before reaching the abbey. It’s around 3 miles each way, so roughly 6 miles there and back, and there’s a café at Rievaulx Abbey if you fancy a stop before walking back. Dogs are welcome on the route, although they need to be kept on a lead at the abbey.

Back in Helmsley, there’s also Helmsley Brewing Company, a small local brewery producing craft beers in the town, and you can book brewery tours too.

If you want to make the trip a bit more special, the area is also known for some excellent food. The Michelin-starred Black Swan at Oldstead is a short drive from Helmsley, so you could even combine a day exploring Helmsley and Rievaulx with a proper foodie treat.

Helmsley is definitely somewhere I’d allow a full day for — a wander around the town, the walk out to Rievaulx Abbey, then back for a drink or something to eat.

Burnsall

If you want the picture-postcard Yorkshire Dales village, Burnsall has to be on the list.

It sits right beside the River Wharfe with its lovely stone bridge, village green and surrounding countryside. On a sunny day it’s a gorgeous place to slow down, sit beside the river and enjoy the views.

Burnsall is also a great starting point for a walk. You can follow the River Wharfe towards Linton Falls and continue on to Grassington, with lovely Yorkshire Dales scenery along the way. Linton Falls is well worth stopping at before continuing into Grassington for a wander around the village, a coffee or something to eat.

You can then walk back to Burnsall to make a proper day of it, or just do part of the route if you fancy something shorter.

Right in the centre of Burnsall is The Red Lion, a traditional dog-friendly pub overlooking the River Wharfe and close to the bridge. It’s a lovely place to stop for a drink or something to eat, especially after a walk.

That’s what I like about Burnsall. You can simply visit for an hour, have a wander around the village and sit by the river, or turn it into a full day out with a walk to Linton Falls and Grassington, finishing back in Burnsall for a well-earned drink.

Hebden Bridge

Hebden Bridge has a completely different feel.

It’s quirky, colourful and full of independent shops, cafés and interesting little places to explore. The canal runs through the town, so it’s also really easy to combine a visit with a walk.

One of the things I like about Hebden Bridge is that you don’t really need a big plan. Park up, have a wander around town, walk along the canal and stop somewhere for coffee or food.

If you want to make more of a day of it, nearby Heptonstall is also worth visiting and gives you a completely different feel again.

Knaresborough

Knaresborough is probably one of the most instantly recognisable places on this list.

The view over the River Nidd with the railway viaduct above it is gorgeous, but there’s much more to Knaresborough than just getting the famous photo.

You can walk along the riverside, explore the town, visit the castle grounds or stop at one of the cafés overlooking the water. You can even hire a rowing boat if you fancy seeing Knaresborough from a completely different angle.

Another popular place to visit is Mother Shipton’s Cave, one of the oldest visitor attractions in England. It’s set in woodland beside the River Nidd and is home to the famous Petrifying Well, where objects gradually become coated in minerals from the water. It’s an easy attraction to combine with a walk along the riverside and the rest of Knaresborough.

There are hills and steps between the riverside and the town, so it’s worth bearing that in mind when deciding where to park.

I’d happily spend a full day here — wandering around the town, walking beside the river, visiting Mother Shipton’s Cave and stopping for coffee or lunch along the way.

Thornton-le-Dale

Thornton-le-Dale is another lovely Yorkshire village and a great stop if you’re exploring the North York Moors.

It’s known for its pretty thatched cottage beside the stream, but the village itself is worth taking time to explore.

There are traditional stone cottages, little shops, cafés and plenty of places to stop for something to eat.

It’s not somewhere you need a huge itinerary for. I think part of its appeal is simply having a wander, getting a coffee and enjoying the village.

It also works really well as a stop if you’re travelling towards places such as Pickering or Dalby Forest.

Which Would I Choose?

If I wanted a full day out, I’d choose Knaresborough or Hebden Bridge.

For a slower few hours wandering around shops and stopping for lunch, I’d choose Helmsley.

And if I wanted countryside, pretty views and a more relaxed Yorkshire village feel, it would be Burnsall or Thornton-le-Dale.

That’s what I like about these five — they all offer something slightly different.

I’ve still got plenty of Yorkshire left to explore, but these are five places I’d happily visit again.