The 12 Prettiest Towns in North Yorkshire

As one of the most beautiful regions in the UK, it comes as no surprise that there is an abundance of pretty towns to visit in North Yorkshire. After all, the area is world-renowned for its pristine and unspoilt natural scenery.

The stunning landscapes, much of which fall within the North York Moors, feature a captivating mix of ancient woodlands and rugged coastlines, peppered with charming towns and villages. With so many picturesque spots to visit in the area, it can be difficult to know where to begin when planning a trip.

To ease the planning process and help you plan the perfect trip, we have shared the 10 prettiest towns in North Yorkshire.

At a Glance

North Yorkshire’s prettiest towns span three very different landscapes: the Yorkshire Dales, the North York Moors, and the coast, so the right base depends on which you want to explore.
Grassington and West Burton join this year’s list as two of the best villages in North Yorkshire, alongside returning Dales favourites Aysgarth and Kettlewell.
Helmsley and Middleham are the pick of North Yorkshire’s market towns, both built around historic castles.
Robin Hood’s Bay, Staithes and Sandsend are the best towns to visit in North Yorkshire for a coastal escape.
Staying at Angrove Country Park puts the North York Moors and coastal towns within an hour’s drive; see the full breakdown below.

North Yorkshire Scenic Towns

Thornton-le-Dale

Thornton-le-Dale is undeniably one of the prettiest towns in North Yorkshire and is even often celebrated as the most picturesque village in all of Yorkshire. Located about 12 miles from Scarborough, this quaint little village is a paradise of thatched cottages, immaculate gardens, and a quaint stream that runs through it.

The town’s main square is home to the famous Chocolate Factory, where you can indulge in locally-made truffles and a variety of chocolate delights. Don’t miss the breathtaking Grade II listed church during your visit to this quaint North Yorkshire village.

Perched dramatically on a hill, the 14th-century church offers dazzling views over the village. Thornton-le-Dale is also surrounded by enchanting woodland, adding to its picturesque scenery.

You can follow an accessible trail that takes you around the village, past fascinating tree carvings and ponds teeming with wildlife. You’ll come across plenty of picturesque 17th-century almshouses during your time in Thornton-le-Dale. They create the postcard-perfect backdrop for your visit.

Aysgarth

Aysgarth is one of the best towns to visit in North Yorkshire. The magnificent little village lies in Upper Wensleydale in the Yorkshire Dales. It is home to sprawling green hills and several stunning waterfalls, making it a wonderful place to explore while holidaying in England.

The waterfalls are a major highlight, especially Aysgarth Falls which is famed for its dramatic three-step cascades that plunge into the River Ure. The site lies just a stone’s throw away from the town and is a must-visit during your stay.

Aysgarth also has a gorgeous church that has a fascinating history, having survived a ransacking by Henry VII’s men in 1537. The town itself is small, with under 200 inhabitants but there are still lots of amenities to enjoy in this beautiful part of Yorkshire, including public houses and tearooms.

When you fancy a walk, you can visit the nearby wooded valley which bursts into bloom with wildflowers in the spring and summer. Bolton Castle is also a popular place to visit when staying in Aysgarth. Lying just four miles to the north, the awe-inspiring 14th-century structure traces back to the 14th century.

Kettlewell

Kettlewell is one of the most beautiful North Yorkshire towns to visit. It features a blend of charming 17th and 18th-century houses, which lie clustered along a valley in the Yorkshire Dales. Kettlewell is one of the best towns to visit in North Yorkshire for hikers as it has a wealth of wonderful trails to choose from.

The routes include everything from gentle, picturesque strolls to more challenging hikes like the ascent of Coverhead Pass. Kettlewell is also a great place to visit for cyclists who can explore the quiet country lanes that offer glorious views over the surrounding countryside.

When you work up an appetite, check out the town’s local pubs. Here you enjoy a hearty meal at one of the town’s local pubs, where you can savour traditional home-cooked dishes and sample local Yorkshire ales. For a lighter option, visit one of the town’s cosy tearooms for warm coffee, tea, and freshly baked pastries.

Grassington

Grassington is often called the unofficial capital of the Yorkshire Dales, and a stroll around its cobbled market square shows exactly why. The square is ringed by 18th-century stone buildings, independent shops and tearooms, and it has changed so little over the years that film crews chose it as the fictional town of Darrowby for All Creatures Great and Small.

Beyond the square, Grassington makes a natural base for exploring Upper Wharfedale. The Yorkshire Dales National Park Centre sits right in the village, and gentle riverside walks along the Wharfe lead out past old lead-mining remains and into open fell country.

The village keeps a lively calendar of events too, from a Dickensian festival each December to summer walking weekends, so pubs and tearooms stay busy with walkers refuelling after a day on the fells.

West Burton

A few miles from Aysgarth’s waterfalls, West Burton is one of the prettiest villages in North Yorkshire precisely because it still feels undiscovered. The village is arranged around one of the largest greens in the Yorkshire Dales, ringed by stone cottages and a market cross that has stood since the 1820s.

A short walk from the green, Cauldron Falls tumbles over limestone ledges on Walden Beck, framed by an old packhorse bridge. It’s one of the Dales’ most photographed waterfalls, and considerably quieter than its better-known neighbour at Aysgarth Falls.

West Burton sits at the mouth of Bishopdale, a quieter side valley off Wensleydale, which makes it a peaceful stop for anyone who wants Dales scenery without the crowds that gather around Grassington or Aysgarth Falls in high summer.

Historic North Yorkshire Towns

Hutton-Le-Hole

Hutton-Le-Hole is certainly one of the prettiest towns in North Yorkshire. Hidden away in a hollow in the Tabular Mountains in the North York Moors National Park, this historic little haven serves up the dreamiest countryside scenery.

A little river called Hutton Beck winds through the town before merging with the enchanting Fairy Call Beck. These idyllic waterways wind through Hutton-le-Hole’s lush green pastures, where sheep graze and picnickers relax on either side.

The town’s Main Street is quaint and peaceful, with a few choice shops, restaurants, cafes and accommodation options. One of the best places to visit during your time in this pretty North Yorkshire town is The Ryedale Folk Museum.

This open-air museum spans a 6-acre site and includes over 20 heritage buildings. Visitors can explore traditional blacksmith workshops, thatched manor homes, and mediaeval cottages, uncovering the fascinating history of those who lived in the area many years ago.

Osmotherley

If you’re looking for pretty towns in North Yorkshire, you can’t go wrong with Osmotherley. This picturesque destination is ideally placed just between the Cleveland Hills to the north and the Hambleton Hills to the south, on the edge of the North York Moors.

The village is backdropped by thick, enchanting woodlands, rolling hills and pristine reservoirs. With such glorious natural scenery on offer, it comes as no surprise that the village is popular amongst hikers and outdoor enthusiasts.

Beyond its breathtaking landscapes, Osmotherley is also excellent for history buffs. The village is home to the 12th-century St. Peter’s Church and historic almshouses. Additionally, there are several charming pubs and restaurants, some dating back to the 16th century.

If you time your visit to this small North Yorkshire town right, you can even experience the annual Osmotherley Show, a traditional agricultural event that has been held since 1791.

Market Towns in North Yorkshire

Middleham

If you’re on the lookout for picturesque market towns in North Yorkshire, Middleham is a wonderful option. It is located in Wensleydale Valley. Despite its size, this little town is home to an abundance of exciting visitor attractions.

Middleham boasts a historic castle dating back to the 12th century, which is sometimes hailed as the ‘Windsor of the North’. It was the childhood home of King Richard III and has an impressive great tower, or keep, which stands 15 metres high, 24 metres wide, and 32 metres deep, making it one of the largest keeps in the country.

The castle also houses an incredible replica of the Middleham Jewel, a remarkable 15th-century pendant adorned with a large sapphire.

The town features two bustling market squares, lined with lively pubs, quaint antique shops, and impressive historic buildings, all set against the magnificent backdrop of the Yorkshire Dales countryside.

Middleham is also renowned for its horse racing heritage as it is home to several racing stables. If you’re lucky, you may be able to see the racehorses in action as they can sometimes be seen striding through the market square.

Helmsley

Helmsley is one of the best market towns in North Yorkshire as it is the only one that lies within North York Moors National Park. As you would expect from its location, it is blessed with heavenly surrounding natural scenery.

The town is situated on the banks of the River Rye and has a fantastic range of walks on its doorstep. They’ll take you by idyllic little streams, beautiful woodlands and even dramatic abbey ruins. Helmsley is also home to the remains of the 12th-century Helmsley Castle. The striking landmark boasts a 100-foot-high tower, bronze archers and mediaeval remains.

You may also wish to pay a visit to Hemsley’s Walled Garden to stroll by stunning flowers, water fountains and greenspaces before enjoying some homemade cake at the cafe.

You’ll find the streets of Helmsley to be buzzing with atmosphere, thanks to its superb selection of restaurants, tea rooms, marvellous pubs and independent boutiques. In fact, this picturesque little town even boasts a Michelin-starred restaurant for those fancying a spot of fine dining during their getaway.

North Yorkshire Coastal Towns

Robin Hood’s Bay

Robin Hood’s Bay is a spectacular fishing village in North Yorkshire. The picturesque town clings dramatically to a cliff overlooking the North Sea. Its terracotta-topped houses cascade down the rugged coastline, melting into the waters beyond.

The town itself comprises a maze of cobblestone passages lined with charming little cottages. Robin Hood’s Bay has a fascinating history, having once been brimming with smugglers who were bringing in contraband such as tobacco and gin using boats hidden away in the harbour.

They then snuck the items into the town through underground alleyways. You can learn all about the colourful local history at Robin Hood’s Bay Museum.

The town streets are lined with guest houses, fish and chip shops and tea rooms. At high tide, you can meander along the clifftop path for sublime vistas over the ocean. At low tide, a plethora of rock pools come into view and make for exciting areas to explore.

Staithes

Staithes is one of the nicest seaside towns in North Yorkshire. The wonderful fishing village lies tucked away into an inlet along the coastline, just 10 miles north of Whitby. It sits on the beautiful Staithes Beck, which flows into the North Sea.

The town’s peaceful, sheltered harbour is a dramatic sight, set alongside plunging cliffs and divine 18th-century cottages. Enjoy the magnificent coastal views as you stroll along the shoreline, where fossils are commonly found.

Explore Staithes by wandering along its cobblestone alleyways and narrow ginnels, including Dog Loup, one of the narrowest streets in England. The town is also renowned for its history; the famous explorer Captain Cook worked here as an apprentice before embarking on his sea voyages.

While investigating Staithes, you’ll come across an array of craft shops, boutiques and galleries that make excellent places to pick up a memento of your time here. The town also has lots of cosy traditional pubs and restaurants where you can enjoy some tasty food and drinks by a roaring fire.

Sandsend

Sandsend is one of the best seaside towns in North Yorkshire. Here you’ll find a delightful coastal promenade with a three-mile sandy beach lined with peaceful, shallow waters. When the tide is out, lots of rock pools appear beneath the retreating waters and the marine wildlife can be seen strutting their stuff.

The fishing village also has a plethora of great dining options to choose from when you fancy a bite. Many restaurants serve delicious, fresh seafood or traditional Yorkshire dishes made with local ingredients, including roast meats and seasonal vegetables.

Mulgrave Castle is a wonderful place to visit during your time in this tranquil North Yorkshire town. Hidden away in the stunning North York Moors, you’ll find a magnificent mediaeval fortress and uncover the castle’s fascinating heritage.

Along with coastal walks along Sandsend Beach, you can also go surfing along Runswick Bay and learn about the coastal environment at the Yorkshire Beach School. With so much to see and do in this coastal town in North Yorkshire, Sandsend offers a fantastic escape for foodies, seaside and history lovers alike.

How to Base Yourself: Distances from Angrove Country Park

Not sure which end of North Yorkshire to base yourself in? It depends on which of these towns you want closest to hand. Angrove Country Park sits between Great Ayton and Stokesley, on the northern edge of the North York Moors, which makes it a strong base for the Moors towns and the coast in particular.

Town	Approx. Drive Time from Angrove	Region
Great Ayton	5 mins	Moors edge
Osmotherley	20 mins	Moors edge
Staithes	35 mins	Coast
Sandsend	35 mins	Coast
Helmsley	40 mins	Moors market town
Hutton-le-Hole	35 mins	North York Moors
Robin Hood’s Bay	50 mins	Coast
Thornton-le-Dale	55 mins	North York Moors
Middleham	1 hr	Yorkshire Dales
Aysgarth	1 hr 15	Yorkshire Dales
West Burton	1 hr 15	Yorkshire Dales
Grassington	1 hr 30	Yorkshire Dales
Kettlewell	1 hr 40	Yorkshire Dales

Great Ayton, the nearest village to the park, is the obvious first stop: it’s an easy walk or a five-minute drive, and worth exploring in its own right before heading further afield. From there, Helmsley, Hutton-le-Hole and the coastal trio of Staithes, Sandsend and Robin Hood’s Bay are all comfortably within an hour, which makes Angrove a genuinely practical base for a Moors-and-coast trip rather than just a Dales one.

The five Dales towns on this list (Middleham, Aysgarth, West Burton, Grassington and Kettlewell) sit further west, at an hour or more from Angrove. If your trip is built mostly around Wensleydale and Wharfedale, our Aysgarth park puts you considerably closer to all five.

Summary

There are so many pretty towns in North Yorkshire to visit. From quaint villages tucked away amidst the rolling hills to vibrant market towns with castles and walled gardens, it’s hard to top the beauty on offer in this picturesque corner of the North of England.

Dreaming of visiting the prettiest towns in North Yorkshire? Take a look at our wonderful selection of lodges in the heavenly woodlands of Angrove Country Park and our luxurious resort in the village of Aysgarth to plan your stay.

FAQs

What is the prettiest village in North Yorkshire?

There’s no single official answer, but among the pretty villages in North Yorkshire, Grassington and West Burton in the Yorkshire Dales and Thornton-le-Dale in the North York Moors are consistently named the prettiest. All three combine well-preserved historic buildings with a genuine village atmosphere rather than a purely tourist one.

Which North Yorkshire town is best for a weekend break?

For a weekend break in North Yorkshire, Helmsley works well thanks to its castle, walled garden and food scene, all within easy walking distance of each other. For a quieter weekend, Aysgarth or West Burton pair a waterfall walk with a slower pace.

What is the closest of these towns to Angrove Country Park?

Great Ayton is the nearest, around five minutes from the park by car. Osmotherley, Staithes, Sandsend and Hutton-le-Hole are all within 20 to 35 minutes.

Are North Yorkshire’s prettiest towns easy to visit by car?

Yes. Most are on or close to A-roads (the A170, A171 or A684), though single-track lanes are common in the smaller Dales villages, so allow extra time in the height of summer.

What can you do in North Yorkshire’s towns if it rains?

Plenty. Chocolate-making at Thornton-le-Dale, museum visits at Hutton-le-Hole or Helmsley’s tearooms all work well as wet-weather options, and our guide to indoor activities in North Yorkshire rounds up more across the county.

Are these towns in the Yorkshire Dales or the North York Moors?

It’s a mix of North Yorkshire villages and towns. Aysgarth, West Burton, Grassington, Kettlewell and Middleham sit in the Yorkshire Dales, while Thornton-le-Dale, Hutton-le-Hole, Osmotherley and Helmsley are in or on the edge of the North York Moors. Robin Hood’s Bay, Staithes and Sandsend are on the coast, just outside both national parks.

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