The Best Motorhome Walks in the Yorkshire Dales

The Yorkshire Dales are one of the finest walking landscapes in England, and a motorhome is the perfect way to explore them. Park up at a campsite, lace up your boots, and you have access to some of the best walks Yorkshire Dales has to offer from a comfortable base with a hot shower and a proper kitchen waiting at the end. If you enjoy motorhome hiking Yorkshire should be high on your list. Here are ten Yorkshire Dales walks motorhome travellers love - each one starting from a location where you can park safely, with a campsite nearby for overnight stays.

1. Malham Cove and Gordale Scar Circular

Distance: 7.5 miles | Difficulty: Moderate | Time: 3.5-4 hours

This is the classic Dales walk, and for good reason. Starting from Malham village, you follow the beck north to the base of Malham Cove - a 260-foot curved limestone cliff that stops you in your tracks the first time you see it. Climb the steps to the top (around 400 of them) and walk across the limestone pavement, then head east across the fields to Gordale Scar, a dramatic narrow gorge with a waterfall. Return to Malham via Janet's Foss, a pretty waterfall in a wooded glen that was supposedly named after a fairy queen. Park at the National Park car park in Malham (no height barrier, but check the length of your motorhome - spaces are generous but can fill up by mid-morning). Riverside Campsite at Town Head Farm in Malham accepts motorhomes. Dogs are welcome but keep them on leads - there is livestock throughout the walk.

2. Aysgarth Falls and Freeholders' Wood

Distance: 3 miles | Difficulty: Easy | Time: 1.5-2 hours

A shorter walk that packs in three spectacular waterfalls on the River Ure in Wensleydale. The upper, middle, and lower falls are connected by well-surfaced paths through Freeholders' Wood, an ancient broadleaf woodland managed by the Yorkshire Dales National Park. The falls are at their most impressive after heavy rain - the volume of water crashing over the limestone steps is genuinely thunderous. The National Park Centre at Aysgarth has a car park that accommodates motorhomes, and there is a decent café in the old railway station building. Several campsites in the Wensleydale area accept motorhomes - a great base for Yorkshire Dales walks motorhome explorers will enjoy. Check availability at the time of booking, as options can change year to year.

3. Ingleton Waterfalls Trail

Distance: 4.5 miles | Difficulty: Moderate | Time: 2.5-3 hours

A privately maintained circular trail through two wooded river valleys, passing a series of waterfalls including Thornton Force - a stunning forty-six-foot curtain of water falling over an exposed geological unconformity where ancient slate meets younger limestone. The trail is well signposted and the paths are good, though there are steps and some uneven sections. An entrance fee applies (currently around £11 for adults - check the Ingleton Waterfalls Trail website for up-to-date prices). The main car park at Broadwood can accommodate motorhomes. Riverside Camping and Caravan Park in Ingleton is a short walk from the village centre and accepts motorhomes with EHU.

4. Bolton Abbey and the Strid - a Classic Yorkshire Dales Walk by Motorhome

Distance: 4 miles | Difficulty: Easy | Time: 2 hours

The ruined Augustinian priory at Bolton Abbey sits in a bend of the River Wharfe in one of the most photographed settings in Yorkshire. From the priory, walk upstream through Strid Wood to the Strid itself - a narrow channel where the entire river is forced through a gap barely six feet wide. The power of the water is mesmerising and the danger is real (the banks are permanently slippery, so stay well back). The stepping stones just below the priory are a highlight, especially with children, though they are submerged when the river is high. Parking is available at the Bolton Abbey estate car park (pay and display, no height restrictions). Howgill Lodge campsite near Appletreewick is within easy reach of this part of Wharfedale. Dogs are welcome on the estate but must be on leads near the priory and stepping stones.

5. Pen-y-ghent from Horton-in-Ribblesdale

Distance: 5.5 miles | Difficulty: Strenuous | Time: 3-4 hours

Pen-y-ghent is the smallest of the Yorkshire Three Peaks but arguably the most satisfying individual summit walk. The classic route from Horton-in-Ribblesdale climbs steadily to the ridge, then scrambles up the final rocky nose to the 694-metre summit. The views from the top across Ribblesdale and towards Ingleborough and Whernside are superb on a clear day. Descend via the Pennine Way path to the south. Park at the car park in Horton (accommodates motorhomes). Holme Farm Campsite in Horton is directly opposite the Pen-y-ghent Café, where you can get a brew and sign the Three Peaks register.

6. Grassington to Linton Falls

Distance: 2.5 miles | Difficulty: Easy | Time: 1-1.5 hours

A short, accessible walk that starts from Grassington's cobbled square, drops down to the River Wharfe, and follows the bank downstream to Linton Falls - a series of cascades where the river tumbles over limestone ledges. The path is mostly flat and suitable for families. Cross the footbridge at Linton Falls and return to Grassington via Linton village, stopping at the Fountaine Inn on the green if you need refreshment. Wood Nook Caravan Park is the nearest motorhome-friendly site.

7. Buckden Pike from Buckden

Distance: 5 miles | Difficulty: Strenuous | Time: 3 hours

A steep but rewarding climb from the village of Buckden in upper Wharfedale to the 702-metre summit of Buckden Pike. The path is clear and well-trodden, rising through sheep pasture and rough moorland to a memorial cross near the summit that commemorates a Polish airman who survived a wartime plane crash on the hillside. The views down Wharfedale are outstanding. Descend via the same route or extend the walk by dropping into Cray and returning along the valley floor. The Buck Inn in Buckden is a fine pub for post-walk food. Park in the village car park. Dalesbridge campsite near Austwick is a reasonable driving distance.

8. Hardraw Force from Hawes

Distance: 2 miles | Difficulty: Easy | Time: 1 hour

Hardraw Force is England's highest single-drop waterfall above ground - a hundred feet of water falling over a limestone lip into a natural amphitheatre. Access is through the Green Dragon Inn at Hardraw (you pay a small entrance fee and walk through to reach the falls). The walk from Hawes to Hardraw is barely a mile along a quiet road and the Pennine Way. Combine it with a morning exploring Hawes - the Wensleydale Creamery, the Dales Countryside Museum, and the various outdoor shops. Several campsites in the Hawes and Wensleydale area accept motorhomes - check availability when booking. This is an ideal shorter walk for a rest day between bigger outings.

9. Cautley Spout from Cross Keys Inn

Distance: 4 miles | Difficulty: Moderate | Time: 2.5-3 hours

Cautley Spout is the highest cascade waterfall above ground in England, tumbling 650 feet down the flanks of the Howgill Fells in the far north-west corner of the Dales. The walk from the Cross Keys temperance inn on the A683 follows a clear path up the valley of Cautley Holme Beck with the waterfall growing larger as you approach. The Howgill Fells are unlike the rest of the Dales - smooth, grassy, and almost devoid of walls and fences, with a quality of wildness that is increasingly rare in England. Park on the roadside near the Cross Keys (space for motorhomes). The nearest campsite is in Sedbergh, about four miles west.

10. Ribblehead Viaduct and Whernside

Distance: 8 miles | Difficulty: Strenuous | Time: 4-5 hours

Start at the Ribblehead Viaduct - one of the most iconic structures in the Yorkshire Dales landscape, carrying the Settle-Carlisle railway across Batty Moss on twenty-four arches. Walk beneath the viaduct and head north-west, climbing steadily up the broad ridge to the summit of Whernside at 736 metres - the highest of the Three Peaks. The descent is steep in places on the far side, dropping down to the Hill Inn at Chapel-le-Dale before following the road back to Ribblehead. This is a full day walk that requires proper boots, waterproofs, and a map. Park at the Ribblehead car park (motorhome accessible). The Station Inn at Ribblehead serves food and drink and is a welcome sight at the end of the walk.

Parking Notes for Yorkshire Dales Walks by Motorhome

Height barriers are the main hazard for motorhome parking in the Dales. The National Park car parks are generally fine - they are designed for coaches as well as cars. Village car parks vary, and a few have barriers at around 2.1 metres which will block a motorhome. Always check before you commit. Roadside parking is generally acceptable on wide verges provided you are not blocking access. Ask locally if in doubt - farmers and residents are usually helpful if you are respectful.

If this is your first motorhome trip, we cover everything you need to know - including parking tips - during the handover at our Pontefract depot. Browse our fleet to find the right motorhome for your Yorkshire Dales walks motorhome holiday, and see our packing checklist before you set off. Many of these walks are excellent for dog-friendly motorhome holidays - the Dales have few roads and plenty of open access land.