Yorkshire Moors Adventure Road Trip

Explore the Moors, coastlines and quaint villages of North Yorkshire

Gannets nesting on the Bempton Cliffs

Road Trip Overview

Take a tour of Yorkshire, focusing on the North Yorkshire Moors National Park

Known to the natives as ‘God’s Own County’, Yorkshire boasts an undeniably rich mixture of landscape, tradition, culture and heritage - it really is hard to beat England’s largest county, making it an excellent choice when hiring a motorhome to explore the country.

Start your journey in the City of York, and journey west towards the Scarborough coastline, taking in the quaint towns and villages along the way. From Scarborough you find yourself right in the heart of the North Yorkshire Moors National Park. 

In late summer the North Yorkshire Moors’ heather moorland flushes purple, creating a truly magnificent sight. The forests and ancient woodlands harbour roe deer, badgers, owls and woodpeckers, while seabirds, seals, dolphins and whales are regular visitors along a dramatic 26-mile coastline.

Finish your tour in Knaresborough, nestled between the North Yorkshire Moors and the Yorkshire Dales.


Total distance: 129 miles

Driving Time

Total driving time: 3 hours, 7 minutes


Suggested length of road trip: 9 days

Grassy knolls of Goathland in Yorkshire, with trees and steam train in distance
Golden sands and cliff side of Scarborough North Bay
Inside York Maze with corn stalks on either side

Explore the route map

Stop 1. York

Recommended site: York Rowntree Park Caravan and Motorhome Club Site

Open: All year

Address: Terry Avenue, York, North Yorkshire, YO23 1JQ

Driving Time

Total driving time: Starting point


Part of York’s enduring appeal is that there’s so much to see and do within the relatively small city centre – allow at least three days to take in the highlights. By night, York has some excellent restaurants and charming old pubs, and the city’s large student population means the nightlife is always lively at weekends.

A wide choice of guided walks are available, while a cruise along the River Ouse offers a completely different perspective on the city. Anyone after more unashamedly ghoulish and bloodthirsty treats should also drop into The York Dungeon – another big hit with kids.

York Minster consistently amazes and delights all visitors - it’s also worth the extra admission cost to see the crypt and the Central Tower – as long as you’re fit enough to scale the 275 steps! Afterwards, the best way to stay relaxed is a spot of afternoon tea at the legendary Betty’s Café Tea Rooms on Parliament Street... but be prepared to queue for a seat!

Adventure seekers can explore the largest maize maze in Europe - York Maze. The Maze boasts over 20 rides, attractions and shows, with over 15 acres of ground to explore.

Visitor view:

"We have been visiting this site for more years than I would care to number. This site is in an absolutely first class position, ten minutes’ walk into York and yet on the edge of countryside for walking. Site is currently looking pristine, hedges trimmed perfectly pitches clean and weed free. There are no negatives regarding the site and the warden team led by Phil and Janet are exactly that, ‘A Team’"


Stop 1 Highlights

Road leading to York Cathedral, with buildings and shops lining streets

York Minster

Sunset on the River Ouse

The River Ouse in the evening

Inside York Maze with corn stalks on either side

Get lost in York Maze

Afternoon tea, with cup, pot of tea, croissants and snacks

Afternoon Tea at Betty's Tea Rooms

Things to do when you're here

Food & Drink

Food & drink

Betty’s Café Tea Rooms
6-8 St. Helen's Square, York, YO1 8QP

01904 659142



York Minster
Deangate, York YO1 7HH

01904 557200

Outdoor fun

Outdoor fun

City Cruises York
The Boatyard, Lendal Bridge York YO1 7DP

01904 6283274

For the family

For the family

York Maze
Dunnington Lodge, Elvington Lane, York, North Yorkshire, YO19 5LT

01904 607 341

Stop 2. Scarborough

Recommended site: Scarborough West Ayton Caravan and Motorhome Club Site

Open: March to October

Address: Cockrah Road, West Ayton, Scarborough, North Yorkshire, YO13 9JD

Driving Time

Total driving time: 1 hour, 1 minute


Scarborough is within easy distance from the Scarborough West Ayton Club Site and offers plentiful safe bathing, the dramatic RSPB Reserve at Bempton Cliff, funfairs for thrill seekers, a Sea Life Centre rich with aquatic life and loads of restaurants to satisfy the appetite.

The Scarborough SEA LIFE Sanctuary offers an immersive and interactive aquatic wildlife experience, offering creature talks, an interactive rock pool where you can meet the starfish and crabs, and plenty of aquarium zones where you can learn about the sanctuary’s wildlife – a great day out with the kids.

Head through the imposing gatehouse of Scarborough Castle and step into 3,000 years of history.  Explore the castle headland with the audio tour and gain a fascinating insight into its past, from Iron Age settlements, to the Roman signal station and medieval chapel.

Get in touch with nature at the RSPB reserve at Bempton Cliff, where thousands of gannets, puffins, fulmars and guillemots nest on the sheer 300ft cliff faces.

Visitor view:

"Had a great time - site is well laid out and the wardens were great. Easy to get to all places around, did Robin Hood’s Bay, Whitby, Nunnington Hall, Pickering - there is just so much to do in the area. Will be going again and the weather was good to us so what more can you want"


Stop 2 Highlights

Father and sun looking into observation tank at fish

Underwater wildlife at SEA LIFE

Ruins of Scarborough Castle overlooking Yorkshire coast

Scarborough Castle

Gannets nesting on Bempton Cliffs

Gannets nesting on Bempton Cliffs

Stony pathway leading to waterfront at North Bay, Scarborough

North Bay, Scarborough

Things to do when you're here

Food & Drink

Food & drink

The Foulsyke Bistro
Barmoor Lane, Scarborough YO13 0PG

01723 507423



Scarborough Castle
Castle Road, Scarborough YO11 1HY

01723 372451

Outdoor fun

Outdoor fun

RSPB Bempton Cliff
Cliff Ln, Bempton, Bridlington YO15 1JF

01262 422212

For the family

For the family

Scarborough SEA LIFE Sanctuary
Scalby Mills Scarborough North Yorkshire YO12 6RP

01723 373414

Stop 3. North Yorkshire Moors

Recommended site: North Yorkshire Moors Caravan and Motorhome Club Site

Open: March to November

Address: Sneaton, Whitby, North Yorkshire, YO22 5JE

Driving Time

Total driving time: 36 minutes


When visiting North Yorkshire Moors Club Site, you will have over 1,300 miles of footpaths to choose from, many of which can be joined from the park; for a more leisurely stay, take advantage of the scenic drives through moorlands and forests.

Another way to enjoy the incredible scenery is via the North Yorks Railway, with magnificent steam trains to ride on and journey stops at beautiful rural stations, such as those at Goathland and Grosmont villages.

If you fancy a change of scenery, why not head to the coast and take in a visit to the magnificent ruins of Whitby Abbey, the inspiration for Bram Stoker's gothic tale of 'Dracula'.

For a seaside day out, visit Robin Hood’s Bay; a small fishing village home to sandy, family friendly beaches, coastal and countryside walks and cycle ways and great places to eat.

Explore your alternative side and stop by at Whitby’s biannual Goth Weekend, with market stalls, live music, and a game of Goth Football to boot!

Visitor view:

"Lovely peaceful site set away from the hurly-burly of the coast... which is a 15 minute drive away. Pleasant wardens and the site was full in September so someone is doing something right! Plenty of hard standings and some (out of use) grass pitches which were running with water. Not too far to find everything from the urban pleasures of Scarborough to the quieter spots of Robin Hoods Bay, Staithes and Runswick Bay. Plenty of well-marked coastal walking via the Cleveland Way. On the doorstep, pleasant walks up/down the May Beck and Falling Foss waterfall/tea room well worth a visit."


Stop 3 Highlights

Grouse lifting its head above the blooming heather of Yorkshire Moors

Grouse amongst heather in the North York Moors

Steam train travelling along North York trainline in Moors

North Yorks Railway, Goathland

Two women and man dressed in gothic clothing

Whitby Goth Weekend

Robin Hood's Bay beach in North Yorkshire

Robin Hood Bay

Things to do when you're here

Food & Drink

Food & drink

Smuggler’s Bistro and Bar
The Dock, Robin Hood’s Bay Whitby North Yorkshire YO22 4SJ

01947 880099



Whitby Abbey
Abbey Lane, Whitby, North Yorkshire, YO22 4JT

01947 603568

Outdoor fun

Outdoor fun

Go Ape Tree Top
Forestry Visitors Centre, Low Dalby, Thornton-le-Dale YO18 7LT

0845 094 9362

For the family

For the family

North Yorks Railway
Goathland, Whitby YO22 5NF

01751 472508

Stop 4. Knaresborough

Recommended site: Knaresborough Caravan and Motorhome Club Site

Open: All year

Address: New Road, Scotton, Knaresborough, North Yorkshire, HG5 9HH

Driving Time

Total driving time: 1 hour, 37 minutes


Your next stop takes you out of the national park and down to Knaresborough, much of which sits perched atop a steep-sided gorge overlooking the River Nidd.

The campsite – home to The Wanderer Bar & Kitchen – is just a mile or so north-west of the town, making it an ideal base for exploring the local castle and cave.

The cave was home to Mother Shipton, a 17th-century ‘seer’ whose prophecies have been interpreted as referring to the Great Fire of London, the arrival of the Spanish Armada, the advent of TV, radio and the internet and much more.

One thing’s for certain: Knaresborough’s excellent weekly market takes place on Wednesdays. After a morning spent browsing the stalls, a wander along the promenade at the bottom of the gorge (with a stop for coffee and cake or an ice cream) is a must. Look out for the distinctively decorated ‘windows’ throughout the town, too – an innovative public arts experiment in ‘trompe l’oeil’ artwork.

Visitor view:

"We had a great time the site was very clean staff very friendly & helpful. Enjoyed Harrowgate & York Christmas shopping went on the train to York, good price - much better than driving there. Lots of places to visit, we enjoyed Brimham Rocks, Ripley & lots more. Knaresborough was brilliant - Christmas market & fireworks were excellent - brilliant time, will be going again."


Stop 4 Highlights

Face carved into tree

Tree carving near Mother Shipton's Cave

Fruit and vegetables being sold at a food market

Visit the market at Knaresborough

Viaduct over the River Nidd, with benches lining riverside

Viaduct over the River Nidd

Ruined battlements of historic Knaresborough Castle

Knaresborough Castle

Things to do when you're here

Food & Drink

Food & drink

Wanderer Bar & Kitchen
Knaresborough Club site, Knaresborough HG5 9HH

01342 327490



Fountains Abbey
Fountains, Ripon HG4 3DY

01765 608888

Outdoor fun

Outdoor fun

Little Pasture Trekking Centre
Bar Lane, Knaresborough HG5 0QG 

01423 860593

For the family

For the family

How Stean Gorge
Lofthouse, Harrogate HG3 5SF

01423 755666