Yorkshire is large enough to hold whole counties within it, and varied enough to give you a different flavour with every few miles. From coast to moor to market square, it is a patchwork of places that each tell a story in their own way. Six towns in particular stand out for their character, history and sheer likeability – Richmond, Whitby, Halifax, Ilkley, Knaresborough and Beverley. You could spend a week exploring them, or give each one its own dedicated trip.
Richmond
Perched above the River Swale, Richmond is the sort of town that seems to have been sketched by someone who likes their history with a strong backdrop. Richmond Castle rises over the rooftops, its Norman keep commanding views of the surrounding Dales. The market square is a generous cobbled space, the kind that can accommodate both farmers selling their produce and a Christmas market without looking remotely crowded.
Wandering through Richmond means ducking into narrow lanes where stone cottages lean companionably towards each other, or following the river down to Easby Abbey, a partly ruined but still striking reminder of monastic life before Henry VIII decided otherwise. The Georgian Theatre Royal, one of the oldest in the country, still stages productions in an intimate wooden interior that feels almost unchanged since the 18th century.
Richmond is also a natural gateway to the Yorkshire Dales National Park, so you can mix town exploration with walks along the Swale, where in autumn the leaves make a spectacle of themselves.
Whitby
If you only know Whitby from its Dracula connection, you are missing out on a town that manages to be both a busy working harbour and a coastal escape. Fishing boats still land their catch here, and the smell of fresh seafood drifts up the narrow streets that climb from the waterfront. At the top of the famous 199 steps you will find Whitby Abbey, a skeletal Gothic ruin whose dramatic presence is matched by the views over the town and the North Sea.
Down in the old town, there are crooked lanes lined with independent shops, selling everything from jet jewellery to traditional kippers. The beach, wide and sandy, draws families in summer, while the harbour arm offers bracing walks in most weathers. Whitby’s maritime history runs deep, not least through Captain Cook, whose voyages began here. The memorial and museum in his name tell that story in fascinating detail.
Whitby also has a knack for festivals, from the annual regatta to the twice-yearly Goth Weekend, when the streets fill with elaborate costumes and the town takes on an almost theatrical air.
Halifax
Halifax is a place that wears its industrial past proudly but has remade itself for the present. The Piece Hall is its most famous building, an 18th-century cloth hall that has been transformed into a grand public square with arcades of independent shops, galleries and cafes. It is one of those places where you come for a look and find yourself staying far longer than planned.
The town has other architectural treasures too. Halifax Minster is a fine example of a parish church elevated by centuries of care and craftsmanship, and the Town Hall, designed by Sir Charles Barry, has a confident Victorian grandeur. The Borough Market remains a bustling, colourful space, full of traders selling fresh produce, flowers and household goods with the easy confidence of generations in the business.
For a touch of quirkiness, the Bankfield Museum and Eureka! The National Children’s Museum bring history and hands-on learning together, making Halifax a good choice for a mixed-interest group. And when you look up at the surrounding hills, you are reminded that this is still very much part of the Pennine landscape.
Ilkley
Ilkley is both genteel and outdoorsy, a place where you can have tea in a smart café and then head straight for the moor. Ilkley Moor, made famous by a certain song, offers wide-open views, heather in season and rock formations that invite climbing and clambering. The Cow and Calf Rocks are a favourite spot for walkers and photographers alike.
The town itself has handsome stone buildings, many of them home to independent shops and delis. The riverside is a peaceful stretch where you can walk along the Wharfe or watch locals take on the outdoor lido in warmer months. Ilkley also has a reputation for good food, from bakeries to fine dining, and an annual literature festival that draws big names and book lovers from far and wide.
It is easy to combine Ilkley with nearby Wharfedale villages for a day of exploring, or to base yourself here for longer walks into the surrounding countryside.
Knaresborough
Knaresborough is one of those towns that makes you pause the moment you see it from the riverside. The viaduct that carries trains across the River Nidd frames the scene, its stone arches reflected in the water, and the steep streets that rise from the river are a joy to explore.
The market square is the centre of town life, with cafes and shops tucked under old façades. From here, it is a short stroll to Knaresborough Castle, whose ruins come with sweeping views over the Nidd Gorge. Nearby, Mother Shipton’s Cave offers a mix of local legend and curiosity, with its petrifying well that turns objects into stone over time.
Down by the river, you can hire a rowing boat and see the town from a more leisurely perspective. In summer, the banks are lively with walkers, cyclists and families picnicking, while spring brings a burst of flowers to the gardens along the riverside paths.
Beverley
Beverley combines the charm of a market town with the grandeur of one of the most beautiful churches in England. Beverley Minster is a masterpiece of Gothic architecture, its twin towers rising above the rooftops. Inside, the craftsmanship is breathtaking, from intricate carvings to stained glass that catches the light in jewel-like colours.
The town’s Georgian streets are lined with independent shops, traditional pubs and a twice-weekly market that keeps the square busy. Beverley has a long association with horses, and the racecourse is still a popular venue, with meetings that bring a festive atmosphere.
Music lovers might plan a visit during the Beverley Early Music Festival, which fills the Minster and other historic spaces with performances. The Westwood, an expanse of pasture on the edge of town, is perfect for a walk before or after browsing the shops. It is common to see cows grazing here, an unexpected but welcome reminder that rural Yorkshire is never far away.
Planning your trip
These six towns each offer their own mix of history, scenery and personality, and part of the pleasure is in seeing how different they are from one another. Richmond has its castle and Dales charm, Whitby its maritime drama, Halifax its grand reinvention, Ilkley its moor and market, Knaresborough its riverside beauty and Beverley its Minster and market bustle.
You could pick one and explore it in depth, or plan a longer route that links them. With Yorkshire’s rail and road network, you can travel between most of them in under two hours, though the temptation will be to linger. And in Yorkshire, lingering is not only allowed but positively encouraged.
