North Yorkshire village stops
Best Villages in the North York Moors to Visit by Car
From peaceful moorland communities and historic market towns to charming fishing villages on the Yorkshire coast, the North York Moors is home to some of England’s most characterful places to explore.
Whether you are travelling by car, campervan, motorhome or motorcycle, these villages are ideal stops on a self-drive holiday through North Yorkshire.
One of the greatest pleasures of exploring the North York Moors is discovering its villages.
Some sit quietly beneath rolling hills where life moves at a gentler pace. Others have grown around ancient churches, historic market squares or traditional fishing harbours. Each tells part of the story of North Yorkshire, and each offers something a little different to visitors exploring the region.
While places such as Whitby and York rightly attract many visitors, the smaller villages often become the places people remember most. They are perfect for stretching your legs, enjoying the scenery, discovering local history and simply slowing down during your journey.
Whether you are planning a long weekend or a longer self-drive holiday, these villages are all easy to include as part of a road trip through the North York Moors.
How many villages should you visit in one day? Two or three villages, combined with a scenic drive or viewpoint, usually creates a more enjoyable day than trying to fit six or seven into the same itinerary.
Plan a complete North Yorkshire road trip
North Yorkshire Coast & Moors Road Trip Guide
Our North Yorkshire Coast & Moors Road Trip Guide follows around 134 miles (215 km) on a circular self-drive journey through three distinct sections: York and the Howardian Hills, the North Yorkshire coast and the North York Moors.
The guide helps you understand how the city, coast and moorland landscapes fit together, with written route chapters, planning maps, places to visit and flexible itinerary ideas.
Instead of starting with a blank map, you have a structured journey that you can adapt to your own time, interests and travel style.
- A carefully planned 134-mile circular route
- Three route sections covering city, coast and moors
- Written destination and route chapters
- Planning maps
- Coastal and moorland stops
- Walks and viewpoints
- Flexible 3–14+ day pacing
- Browser-based, mobile-friendly access
- One-off purchase with 12 months’ access
Complete digital road trip guide
Follow a circular journey from York through the Howardian Hills, Whitby and the coastal villages before returning through open moorland, abbey valleys and railway landscapes.
Buy the guide — £11.99This free article provides additional village inspiration. Not every village, market town or coastal stop mentioned on this page is necessarily included in the paid guide. Please check the product page for the confirmed route structure and full guide contents.
Hutton-le-Hole
Best for: a classic North York Moors village
If you are imagining a traditional North Yorkshire village, there is a good chance you are picturing somewhere like Hutton-le-Hole.
Stone cottages line the village green while a small stream runs gently through its centre, creating one of the most photographed scenes in the National Park. Sheep often graze beside the road, adding to the peaceful rural atmosphere that has made the village so popular.
Despite its popularity, Hutton-le-Hole never feels overly commercial and remains a delightful place to pause during a self-drive tour.
Why visit?
- Beautiful village setting
- Traditional stone cottages
- Village green and stream
- Ryedale Folk Museum nearby
- Excellent cafés and independent shops
Combine with
- Lastingham
- Rosedale Abbey
- Blakey Ridge
- Helmsley
Lastingham
Best for: history and tranquillity
Hidden among rolling countryside, Lastingham is one of the North York Moors’ oldest and most fascinating villages.
Its greatest treasure is St Mary’s Church, home to a remarkable Norman crypt dating back almost 1,000 years. Beyond its historical importance, the village itself offers a wonderfully peaceful atmosphere that encourages visitors to slow down and explore.
Unlike some of the area’s better-known destinations, Lastingham remains refreshingly quiet for much of the year.
Why visit?
- Historic church and crypt
- Peaceful village atmosphere
- Attractive stone cottages
- Beautiful surrounding countryside
Combine with
- Hutton-le-Hole
- Appleton-le-Moors
- Pickering
Appleton-le-Moors
Best for: a quieter side of the National Park
Just a short drive from Hutton-le-Hole, Appleton-le-Moors often slips beneath the radar of many visitors.
This attractive village offers everything people love about the North York Moors — stone cottages, quiet lanes and beautiful countryside — but without the crowds found at some of the region’s better-known locations.
It is an ideal stop if you simply want to enjoy the landscape and experience a slower pace of life.
Why visit?
- Peaceful rural setting
- Traditional Yorkshire character
- Quiet country lanes
- Easy to combine with nearby villages
Combine with
- Lastingham
- Hutton-le-Hole
- Rosedale Abbey
Rosedale Abbey
Best for: beautiful valley scenery
Despite its name, Rosedale Abbey is not centred around an abbey. Instead, it is a charming village nestled within one of the most picturesque valleys in the North York Moors.
Surrounded by rolling hills, historic mining remains and quiet roads, it is a wonderful place to pause during a road trip and explore a very different side of the National Park.
The peaceful atmosphere and dramatic setting make it one of our favourite villages in North Yorkshire.
Why visit?
- Beautiful valley location
- Historic mining heritage
- Quiet atmosphere
- Wonderful scenic drives nearby
Combine with
- Blakey Ridge
- Hutton-le-Hole
- Chimney Bank
- Farndale
Goathland
Best for: heritage and moorland scenery
Goathland is one of the North York Moors’ best-known villages, but there is far more to discover than its television connections.
Surrounded by heather-covered moorland and woodland, the village is also home to the beautifully preserved Goathland Station on the North Yorkshire Moors Railway, making it a popular stop for railway enthusiasts and road-trippers alike.
It is an excellent base for exploring the eastern side of the National Park and combines particularly well with Whitby and the Yorkshire coast.
Why visit?
- Historic railway station
- Traditional village atmosphere
- Beautiful surrounding scenery
- Excellent walking opportunities
- Great location for exploring the eastern moors
Combine with
- Whitby
- Falling Foss
- Egton Bridge
- Hole of Horcum
Every one of these villages offers a slightly different experience, from peaceful valleys and historic churches to traditional Yorkshire communities that have changed remarkably little over the centuries. Choose two or three that naturally fit your route and allow time to wander, explore and enjoy the slower pace.
Egton Bridge
Best for: a peaceful riverside village
Tucked away beside the River Esk, Egton Bridge is one of those places that many visitors pass without realising what they are missing.
The attractive stone bridge, mature woodland and peaceful riverside setting make it a lovely place to stop during a road trip through the eastern North York Moors. It is particularly enjoyable if you are looking for somewhere quieter than the better-known villages nearby.
Whether you are travelling by car, campervan, motorhome or motorcycle, it is an easy and rewarding detour from the main tourist routes.
Why visit?
- Attractive riverside setting
- Traditional stone bridge
- Peaceful atmosphere
- Woodland surroundings
- Ideal short stop on a road trip
Combine with
- Goathland
- Whitby
- Falling Foss
- Grosmont
Robin Hood’s Bay
Best for: historic coastal character
Although Robin Hood’s Bay is one of Yorkshire’s best-known coastal villages, it still deserves a place on this list because nowhere else quite captures the character of the Yorkshire coast.
Steep, winding streets tumble towards the sea between tightly packed cottages that were once home to fishermen and, according to local legend, smugglers.
Today it is one of the most atmospheric places to explore on foot.
Why visit?
- Historic fishing village
- Narrow cobbled streets
- Beautiful coastal scenery
- Wonderful seaside atmosphere
Parking and nearby stops
Parking is available at the top of the village. The historic centre is best explored on foot. Combine it with Ravenscar, Whitby or Staithes.
Staithes
Best for: a picturesque fishing village
Colourful cottages, a sheltered harbour and dramatic cliffs have made Staithes one of North Yorkshire’s most photographed villages.
Despite its popularity, it still retains the feel of a traditional working fishing village and is easy to combine with other coastal stops during a self-drive holiday.
Take time to wander the narrow lanes, watch the fishing boats and enjoy the spectacular coastal scenery.
Why visit?
- Charming harbour
- Traditional cottages
- Artistic heritage
- Beautiful coastal walks
Parking and nearby stops
Use the village car park before walking into the historic centre. Combine it with Runswick Bay, Whitby or Cowbar viewpoint.
Runswick Bay
Best for: coastal scenery and a slower pace
Runswick Bay often sits quietly in the shadow of Whitby, but many visitors leave saying it became one of their favourite places in North Yorkshire.
Its sweeping sandy beach, attractive cottages and peaceful atmosphere make it an excellent place to relax during a road trip along the Yorkshire coast.
It is particularly enjoyable outside the busiest summer weekends, when the village feels wonderfully unhurried.
Why visit?
- Beautiful sandy bay
- Traditional coastal village
- Dramatic cliff scenery
- Relaxed atmosphere
Parking and nearby stops
Public parking is available above the village, followed by a short walk downhill. Combine it with Staithes, Whitby or Ravenscar.
Helmsley
Best for: a historic market town
While technically a market town rather than a village, Helmsley deserves its place on any North Yorkshire itinerary.
Its handsome market square, independent shops, historic castle and welcoming atmosphere make it one of the best places to pause during a self-drive journey through the North York Moors.
It also provides an excellent base for exploring Sutton Bank, Rievaulx Abbey and the western edge of the National Park.
Why visit?
- Historic market square
- Helmsley Castle
- Independent shops
- Excellent cafés
- Gateway to the North York Moors
Combine with
- Sutton Bank
- Hutton-le-Hole
- Rievaulx Abbey
- Hawnby
Choose your village
Which North York Moors village should you choose?
Each gives a different glimpse into North Yorkshire’s history, landscapes and local character.
| If you are looking for… | We recommend… |
|---|---|
| Traditional North York Moors village | Hutton-le-Hole |
| Historic village | Lastingham |
| Quiet countryside | Appleton-le-Moors |
| Beautiful valley scenery | Rosedale Abbey |
| Steam railway heritage | Goathland |
| Riverside setting | Egton Bridge |
| Historic coastal village | Robin Hood’s Bay |
| Fishing harbour | Staithes |
| Sandy beach | Runswick Bay |
| Historic market town | Helmsley |
Rather than trying to visit them all in one trip, choose the places that best fit your route and allow time to explore on foot.
Build a village day
North York Moors village road trip ideas
Combine several nearby places into a relaxed day of exploring.
Historic villages
- Helmsley
- Hutton-le-Hole
- Lastingham
A wonderful day exploring market towns, historic churches and traditional stone villages.
Coast and fishing villages
- Robin Hood’s Bay
- Staithes
- Runswick Bay
Perfect for enjoying North Yorkshire’s spectacular coastline, harbours and clifftop scenery.
Quiet countryside
- Appleton-le-Moors
- Rosedale Abbey
- Hawnby
Ideal if you prefer peaceful roads, beautiful landscapes and a slower pace away from the busiest tourist areas.
Eastern North York Moors
- Goathland
- Egton Bridge
- Whitby
A rewarding combination of heritage, woodland, rivers and dramatic coastal scenery.
Plan your village visits
Parking, larger vehicles and realistic pacing
Most villages are easy to include, but the oldest streets are often best explored on foot.
Parking
Most villages have public parking close to the centre, although the oldest streets are often too narrow for general traffic. Once parked, the best way to experience these places is on foot.
Travelling in larger vehicles
These villages can all be enjoyed by car, campervan, motorhome or motorcycle. Some village streets are narrow, so using the main public car parks is usually the simplest option.
Allow time to explore
Many villages appear small on a map, but they reward visitors who take time to wander the lanes, admire the architecture and enjoy the surrounding scenery.
Visit at a relaxed pace
Trying to fit six or seven villages into one day often means missing what makes each one special. Two or three villages, combined with a scenic drive or viewpoint, usually creates a much more enjoyable day.
Continue planning
More North Yorkshire road trip ideas
Combine villages with scenic roads, viewpoints, quieter places and realistic itinerary ideas.
More village inspiration
Characterful villages elsewhere in Britain
Continue exploring village-focused road trips and inspiration in other regions.
Save with a Yorkshire bundle
Combine coast, moors and Dales
Yorkshire Explorer pairs this North Yorkshire journey with Brontë Country, Malham, Ribblehead and the pastoral landscapes of Wensleydale.
Yorkshire Explorer
Pair York, Whitby and the North York Moors with classic Dales scenery, limestone landmarks and Herriot Country.
- North Yorkshire Coast & Moors Road Trip Guide
- Yorkshire Dales Road Trip Guide
- Browser-based digital access
- One-off purchase
Frequently asked questions
Visiting villages in the North York Moors
Which is the prettiest village in the North York Moors?
Hutton-le-Hole is often considered one of the prettiest thanks to its stone cottages, village green and picturesque stream, while many visitors also love the coastal charm of Robin Hood’s Bay and Staithes.
Can you visit the North York Moors villages by campervan or motorhome?
Yes. The villages can be included as part of a self-drive holiday by car, campervan, motorhome or motorcycle. Parking in the designated public car parks is usually the best option before exploring on foot.
Which villages are close to Whitby?
Goathland, Egton Bridge, Robin Hood’s Bay, Staithes and Runswick Bay all make excellent additions to a day exploring Whitby and the Yorkshire coast.
Which village has the famous steam railway?
Goathland is home to the beautifully preserved Goathland Station on the North Yorkshire Moors Railway and remains one of the National Park’s most popular villages.
Can you combine several villages into one road trip?
Absolutely. Many are only a short drive apart and can be linked with scenic drives, viewpoints and historic attractions to create a rewarding day exploring the North York Moors.
Are all of these villages included in the paid guide?
Not necessarily. This article provides broader free inspiration, while the paid guide follows its own carefully planned 134-mile circular route. Check the product page for the confirmed route structure and guide contents.
The villages of the North York Moors are far more than convenient places to stop. Together they tell the story of the region’s farming communities, fishing heritage, market traditions and remarkable landscapes. Taking time to explore these characterful places is one of the best ways to experience the true spirit of North Yorkshire.
Plan your complete North Yorkshire journey
Follow around 134 miles through York and the Howardian Hills, the North Yorkshire coast and the North York Moors, creating a circular journey through city history, coastal villages and open moorland landscapes.
Buy the North Yorkshire Road Trip Guide — £11.99