The first town on our list of places to visit in the North Yorkshire Moors is always Whitby. It is a beautiful port city with much to offer the visitor. Take a city tour on the trail of Dracula or visit one of the famous fish and chip shops. There is also a good selection of boat trips to try in a variety of different boats and plenty of places to walk and enjoy. There is more to the city than a single paragraph can do justice.

Close by and second on the list is Goathland, home of the Heartbeat TV series. It is another picturesque town, off the beaten track, but full of visitors. It’s a popular stop on the North Yorkshire Moors Railway and will see TV fans exiting the train, as well as hordes of walkers heading out to explore the North Yorkshire Moors for a day.

Continuing inland, we will visit Pickering, an inland town that deserves a brief stop on your way. There isn’t much to do here, but you could spend a couple of hours trying out the castle and trout farm. And Pickering is the start of the North Yorkshire Moors Railway, which can travel through Goathland to Grosmont and on to Whitby if you choose the right service.

Leaving from Pickering towards Scarborough, not far down the road is Thornton Le Dale. Here you will find a good selection of ice cream parlors, a few second hand bookstores and if you walk through the village the most postcard beautiful farmhouse set back from the gently flowing creek. Stop at one of the tea rooms and have an ice cream before heading out for a walk. It’s worth it.

If you leave Pickering on the other side, you will pass the turnoff for Hutton Le Hole. Follow this detour as this town is well worth a visit. Again, there are plenty of cafes and ice creams for sale, but it is a beautiful town that is not too crowded. There is also the Rydale Folk Museum here which can entertain the children for an hour or two. Allow plenty of time for a visit, especially if it’s seasonal and there’s an event.

Finally, continuing towards Sutton Bank and the end of the North Yorkshire Moors, you will pass through Helmsley. This is a busy market town, but park in the main car park and perhaps wander around the castle and then on to the market and shopping area. There are a few pubs to choose from for dining and a variety of larger shops.

It eventually reaches Sutton Bank and the end of the North Yorkshire Moors. The views here towards Leeds are incredible. It is well worth stopping and taking a walk around the White Horse in Kilburn. Just watch the gliders taking off from Sutton Bank.