Shepherd's huts in Yorkshire Dales National Park

The second-highest mountain in the park, Ingleborough is one of the Yorkshire Three Peaks, along with Whernside and Pen-y-Ghent. They’re all prime for hiking, but Ingleborough and its moorland surroundings also host an important rewilding project. Spectacular waterfalls cluster around its trailhead, while the long-distance Pennine Journey trail crosses the 2,375-foot summit. Campsites are scattered along the roads around the base of the upland—those in Horton-in-Ribblesdale and Ingleton are easiest to access.

Not technically part of the national park yet extending off the southeast corner in more of the same valley-scored moorland, the 233-square-mile Nidderdale area still has its rolling countryside protected as an AONB. Highlights for campers include iconic beauty spots such as Brimham Rocks’ wondrous rock formations and the enchanting How Stean Gorge, set near some of the best Nidderdale campsites.

Say cheese! The Yorkshire Dales’ best-known dale is famous for its homonymous crumbly cheese, produced at Hawes. Wensleydale is busier than most Yorkshire Dales, as it’s set near where the famed Bolton Castle guards the part of the dale within the national park. Magnificent waterfalls near Hawes make attractive short walks, while the Pennine Way bisects Hawes, which has some of the best campsites hereabouts.

Swaledale, the next dale north of Wensleydale, is chocolate-box pretty. The emerald-green valley bottom is a throwback to a bygone rural life, as the wildflower meadows are still managed with traditional farming methods and dotted with historic barns. A village like Muker makes an excellent camping base, from where you can access both the wildflower meadows and, via the Pennine Way, the big fells.

Among its 800 square miles, the Yorkshire Dales National Park has bustling market towns, picturesque villages, and sleepy hamlets. Choose camping near town for the convenience and access to amenities, cafes, shops, and pubs.

• Skipton is a gateway into the national park thanks to its location just outside the southern boundary. From here, it’s a short distance to Bolton Abbey, the popular town of Grassington, and the village of Burnsall, all within Wharfedale.
• At the upper end of Wharfedale, the small market town of Kettlewell is another popular spot, as it's right on the long-distance Dales Way footpath.
• All of the above fall within the Craven District of Yorkshire, which also claims Malham, Ingleton, and Horton-in-Ribblesdale, small villages with spectacular settings. Malham is close to some of the Dales’ most-visited scenery, Ingleton claims the best waterfalls, and Horton-in-Ribblesdale sits at the foot of Pen-y-Ghent.
• The market town of Hawes offers a central location, shops, and access to the popular fells of Buttertubs and Fleet Moss. The villages and towns of Swaledale in the north part of the national park include Reeth and Gunnerside. This part of the park is wilder, though the largest market town can be found in Richmond on its eastern edge.

• Yorkshire Dales walks: The Yorkshire Dales has its own popular Three Peaks Challenge: to walk up to the peaks of Pen-y-Ghent, Whernside, and Ingleborough in 12 hours. It’s a 24-mile walk with more than 1,500 metres of ascent. Conquerors usually set off from Ingleton, where you can “clock in” at the Pen-y-Ghent café. Other walking routes through the Yorkshire Dales include the Pennine Way, the Coast-to-Coast route, and the Dales Way. These long-distance routes only run partly through the Yorkshire Dales, but all offer a fantastic chance to see some of the park’s finest scenery. Whether you’ve committed to taking one on end-to-end or are simply looking for a well-signposted footpath to follow on a shorter walk, none will disappoint.
• Yorkshire Dales cycling: If you prefer two wheels to a pair of walking boots, the Yorkshire Dales Cycleway is the one for you. This 130-mile circular trail should only be undertaken by experienced cyclists,as it takes, on average, six days to complete.
• Yorkshire Dales caving: One of the most popular caving spots is the Three Counties System, the longest and most complicated cave system in Britain at 55 miles long. If you’re no expert, some showcaves offer easier access to the subterranean world—head to Ingleborough and White Scar Caves on the park’s west side.
• Yorkshire Dales climbing: In addition to walkers and peak baggers, climbers also come to the Yorkshire Dales looking to explore the limestone landscapes. The limestone presents opportunity overground at Malham Cove and neighbouring Gordale Scar.
• Yorkshire Dales railways: Although nature is the star of the show in the Dales, the Ribblehead Viaduct has been called its greatest man-made sight. This railway bridge has 24 arches and stands 100 feet over Ribblesdale. Hop aboard at Settle or Horton-in-Ribblesdale for a look. The historic Embsay-Bolton Abbey Railway is another option, this one operated only as a tourist attraction. The Embsay end is near Skipton, while the far end is close to the ruined priory at the Bolton Abbey Estate.