If you’re looking for a UK road trip that captures the very best of the English countryside, the Yorkshire Dales and North York Moors route delivers in every sense. This 150-mile journey takes you through two of Northern England’s most beautiful National Parks, offering dramatic scenery, stone-built villages, and a slower pace of life that feels a world away from the city.
For those travelling with dogs, it’s an absolute dream. The mix of hill walks, open moorland and peaceful market towns makes it one of the most dog-friendly road trips in the country. Every stop brings a new scent to explore, a trail to wander, or a cosy pub that welcomes muddy paws.
Overview of the Route
Distance: Around 150 miles
Recommended duration: 3–5 days
Best for: Countryside views, hiking, scenic drives and dog-friendly stays
The route typically begins in Skipton, on the edge of the Yorkshire Dales, looping through the heart of the park before crossing into the North York Moors and finishing near the coast at Whitby. It’s a trip that balances winding country lanes with rolling landscapes and offers plenty of flexibility — you can take detours, extend your stay, or add stops as you please.
Key Stops and Highlights
1. Skipton and Malham Cove
Known as the “Gateway to the Dales,” Skipton is a lively market town surrounded by hills and farmland. The town’s canal walks and open spaces are ideal for dogs, and Skipton Castle Woods offers shaded forest trails right in the centre of town. Dogs will enjoy wandering along the towpaths, watching the ducks and exploring the grassy parkland that runs alongside the Leeds–Liverpool Canal.
A short drive away lies Malham Cove, one of the Dales’ most iconic natural landmarks. This huge limestone amphitheatre was carved by glaciers and now offers a dramatic walk that dogs will love (just keep them on a lead near the edges of the cliffs). The trail from Malham village follows a scenic route alongside a stream, with plenty of spots for paddling before reaching the impressive rock face at the top.
Campsites nearby:
- Catgill Farm Camping & Glamping is an amazing starting point site packed with dog friendly features
2. Grassington and Bolton Abbey
Continue deeper into the Dales toward Grassington, a charming stone village surrounded by valleys and walking routes. The nearby Linton Falls offers an easy riverside stroll that’s perfect for dogs that enjoy exploring water. In the village itself, many of the pubs and cafés welcome dogs inside, making it a great stop for lunch or a short stay.
Not far away, Bolton Abbey is one of the most picturesque places in the Dales. The estate features over 80 miles of footpaths, from riverside walks to woodland trails, and dogs are welcome almost everywhere if kept on a lead. They’ll love exploring the open fields, dipping their paws in the River Wharfe, and running across the famous stepping stones.
Campsites nearby:
- Howgill Lodge Campsite – Excellent dog friendly facilities and sweeping valley views
- Wood Nook Caravan Park, near Grassington (quiet and dog-friendly).
3. Hawes and Wensleydale
The road north winds through the heart of the Yorkshire Dales toward Hawes, a bustling town surrounded by open fells. Known for its cheese-making heritage, Hawes is a perfect base for exploring Wensleydale. The area is filled with open countryside, waterfalls and traditional pubs that welcome dogs as warmly as their owners.
Dogs will love walking the paths that surround Hardraw Force, England’s highest single-drop waterfall, accessed through the Green Dragon Inn. The combination of woodland scents, running water and open meadows makes this one of the most rewarding stops for four-legged explorers.
Campsites nearby:
- Bainbridge Ings Campsite, near Hawes (dog-friendly, with views across the Dales).
- Old Station Caravan Park, Masham (a quiet, scenic stop a short drive away).
4. Reeth and Richmond
From Hawes, head east toward Reeth, a classic Dales village set in Swaledale. It’s a landscape of green valleys, winding rivers and dry-stone walls stretching as far as the eye can see. Dogs will enjoy the freedom of the wide walking trails here, especially along the Swale Trail — a family-friendly route that follows the river through meadows and woodland.
The historic market town of Richmond is next, with its medieval castle ruins and cobbled streets. The town’s riverside walks and the open parkland of Richmond Falls are perfect for a gentle afternoon stroll. The smell of the river and the echo of flowing water make this a sensory treat for dogs, while the town’s welcoming atmosphere offers plenty of places to stop for food or a coffee.
Campsites nearby:
- Orchard Caravan Park, Reeth (quiet site with walking routes from the door).
5. Helmsley and the North York Moors
Crossing eastward from the Dales, the landscape changes as you enter the North York Moors National Park. Your first stop, Helmsley, is a charming market town that feels like the gateway to the moors. Dogs will enjoy wandering its market square and exploring Duncombe Park, a sprawling estate with woodland trails and meadows.
From Helmsley, head out across the moors toward Rievaulx Abbey, a hauntingly beautiful ruin set in a peaceful valley. Dogs are welcome on the grounds and nearby footpaths, making it an ideal place for a relaxed morning walk before tackling the wide-open moorland roads that define this section of the trip.
Campsites nearby:
- Golden Square Caravan Park, near Helmsley (dog-friendly and family-run).
- Rosedale Abbey Caravan Park, set in the heart of the moors.
6. Whitby and the Yorkshire Coast
Your final destination is the seaside town of Whitby, perched on the North Sea coast. Famous for its gothic abbey and cobbled streets, Whitby is also one of the most dog-friendly towns in Yorkshire. The long sandy beach is open to dogs outside summer restrictions, and the clifftop paths leading toward Sandsend offer miles of uninterrupted sea views.
Dogs will love the mix of coastal scents, the wide open spaces and the chance to run off-lead where it’s safe to do so. Take a walk up to Whitby Abbey, explore the harbour, and stop by one of the many dog-welcoming pubs for a well-earned rest before the drive home.
Campsites nearby:
- Whitby Holiday Park, on the cliffs south of town (dog-friendly with sea views).
- Sandfield House Farm, walking distance from the beach.
Suggested Itinerary
| Day | Route | Key Stops | Overnight Suggestion |
|---|---|---|---|
| 1 | Skipton to Grassington | Malham Cove, Bolton Abbey | Howgill Lodge Campsite |
| 2 | Grassington to Hawes | Linton Falls, Hardraw Force | Bainbridge Ings Campsite |
| 3 | Hawes to Richmond | Reeth, Swaledale | Orchard Caravan Park |
| 4 | Richmond to Helmsley | Castle Walks, Rievaulx Abbey | Golden Square Caravan Park |
| 5 | Helmsley to Whitby | North York Moors, Sandsend | Whitby Holiday Park |
Tips for Travelling the Yorkshire Dales and North York Moors
- Check road gradients: Some Dales roads are narrow and steep, especially near Malham and Buttertubs Pass.
- Pack wet-weather gear: The weather changes quickly in the Dales and Moors alike.
- Pre-book Campsites: There are some great dog friendly campsites across the Yorkshire Dales and The North York Moors.
- Mind livestock: Keep dogs on leads around sheep and farmland.
- Take your hiking boots: There are some amazing dog friendly hikes on the route.
- Support local businesses: Many small cafés, pubs and shops are independently run and dog-friendly.
- Take your time: Distances might seem short, but the winding roads mean slower travel — and that’s part of the charm.
Final Thoughts
The Yorkshire Dales and North York Moors road trip captures everything that’s special about travelling in rural England. Quiet lanes, stone cottages, timeless scenery and endless opportunities to get outdoors. For those with dogs, it’s even more rewarding — every walk, riverbank and trail is a new adventure waiting to happen.
Whether you come for a long weekend or a week on the road, this route offers a mix of peace, beauty and exploration that’s hard to beat. It’s the kind of trip that reminds you why slow travel and the simple joy of the open road never go out of style.