Five Circular Yorkshire Coast Walking Routes Along the Cleveland Way
The North Yorkshire coast between Scarborough and Staithes is home to some of the finest Yorkshire Coast walking routes in England. This collection of five circular walks explores a stretch of coastline rich in dramatic clifftop scenery, Jurassic geology, fishing village character and layers of history stretching back centuries. Each route follows the Cleveland Way for at least part of its journey, taking in the rugged headlands, hidden coves and layered cliffs that define this part of the Heritage Coast. The return legs make use of the Cinder Track, country lanes or quiet inland paths, giving every walk a satisfying sense of variety and contrast.
These five Yorkshire Coast walking routes range from eight and a quarter to nine and a quarter miles, with durations of four to four and a half hours. Between them, they take in the secluded waterfall cove at Hayburn Wyke, the wartime radar station above Ravenscar, the smuggling history of Robin Hood’s Bay, the ironstone heritage of Port Mulgrave and the ancient Holy Well at Hinderwell. Whether you’re drawn to wide open cliff edges, sheltered woodland valleys, or the narrow streets of a traditional fishing village, there’s a walk here to suit. All five routes are circular, starting and finishing at the same point, and each one stands on its own as a full day out on the coast.
Yorkshire Coast Walking Routes Table of Contents
| Walk Name | Distance | Duration | Total Ascent |
|---|---|---|---|
| Cloughton Wyke Walk | 8¾ miles | 4¼ hours | 1052 feet |
| Hayburn Wyke Walk | 9¼ miles | 4½ hours | 1256 feet |
| Ravenscar Walk | 8¾ miles | 4¼ hours | 1147 feet |
| Robin Hood’s Bay Walk | 9¼ miles | 4¼ hours | 945 feet |
| Runswick Bay Walk | 8¼ miles | 4 hours | 1080 feet |
Yorkshire Coast Walking Routes: Cloughton Wyke
Distance: 8¾ Miles | Duration: 4¼ Hours | Total Ascent: 1052 Feet
This Cloughton Wyke walk is a varied circular route along the North Yorkshire coast that combines dramatic clifftop scenery, a secluded woodland cove and a relaxed return along a former railway line. Starting from Field Lane in Burniston, roughly five miles north of Scarborough, the walk follows the Cleveland Way northwards to the rocky inlet at Cloughton Wyke before continuing to the nature reserve at Hayburn Wyke. From there, the route heads inland through peaceful woodland and returns south along the Cinder Track, the old Scarborough to Whitby railway line. It’s a walk of real contrast, moving from exposed coastal paths high above the shore to sheltered woodland trails and an easy, well-surfaced track, making it one of the finest outings on this stretch of coast.
Route Overview
The walk begins at a small parking area on Field Lane, near the stone bridge that carries the Cinder Track overhead. From here, the route heads north-east along the tarmac lane towards Cliff Top House and picks up the Cleveland Way at the coast. The clifftop path, which also forms part of the King Charles III England Coast Path, passes the Long Nab Coastguard Station and Mine Shelter before continuing north through a series of climbs and descents to Cloughton Wyke. Beyond the inlet, a steep ascent near Sycarham House leads to a viewing area at Rodger Trod, followed by a descent through National Trust woodland to the beach at Hayburn Wyke. Leaving the cove, the route follows Hayburn Beck upstream through the wooded valley before emerging at a country lane near Whitehouse Farm. A stone bridge over Bloody Beck leads to a set of steps down onto the Cinder Track, which carries the walk south past the Hayburn Wyke Inn and the former Cloughton Station back to Field Lane.
About the Area
Cloughton’s a small village on the edge of the North York Moors National Park, and its name appears in the Domesday Book of 1086 as “Cloctune”, meaning the town in the valley. The village has long been part of the Duchy of Lancaster estate, with the connection dating back to 1267 when the manor was granted to Edmund Crouchback, the first Earl of Lancaster. Cloughton Wyke itself is named using the Old Norse word for a sea inlet, reflecting the Viking influence on this coastline. The exposed cliffs at the wyke date from the Middle Jurassic period, around 170 million years ago, and the rock formations form part of what’s known as the Cloughton Formation, a site popular with fossil hunters and geology enthusiasts. Hayburn Wyke, at the northern turning point, is a designated Site of Special Scientific Interest managed by the National Trust and the Yorkshire Wildlife Trust. The surrounding woodland is home to roe deer, badgers and over thirty species of breeding birds. The Cinder Track, which provides the return leg, follows the old Scarborough to Whitby railway line, which operated for around eighty years before closing in 1965.
Walk Highlights
The coastal views along the Cleveland Way are a constant highlight, with layered cliffs, rocky shorelines and open farmland stretching away in both directions. The Long Nab Coastguard Station, built in 1927, adds historical interest early in the walk; during the Second World War, it was used to watch for enemy submarines near the Scarborough Channel sea lane. The inlet at Cloughton Wyke offers a close look at banded sandstone and shale rock faces, while at Rodger Trod a marked viewpoint provides an outstanding place to stop and take in the coast. The undoubted centrepiece, though, is the secluded cove at Hayburn Wyke, where a double waterfall formed by Hayburn Beck drops over a rocky ledge directly onto the beach. Rock pools along the waterline are full of life, with blennies, limpets and crabs sheltering among the boulders. The return along the Cinder Track brings its own pleasures, passing the eighteenth-century Hayburn Wyke Inn, a whitewashed cottage in Newlands Dale with its old-fashioned gate penalty notice, and the beautifully converted former Cloughton Station, where the handsome stone building now serves as bed and breakfast accommodation. Between the two platforms sits Oscar, a 1962 Derby-built Mark 1 railway carriage fully refurbished into self-catering accommodation, complete with a section of original track beneath it.
Yorkshire Coast Walking Routes: Hayburn Wyke
Distance: 9¼ Miles | Duration: 4½ Hours | Total Ascent: 1256 Feet
This Hayburn Wyke walk is a rewarding circular route that takes in a secluded woodland cove, exposed clifftop scenery, wartime history, sweeping views across Robin Hood’s Bay and a relaxed return along a former railway line. Starting from the car park near the Hayburn Wyke Hotel, the walk drops through ancient woodland to the rocky shore at Hayburn Wyke before climbing to the Cleveland Way and heading north along the clifftops to Ravenscar. The return follows the Cinder Track south through open farmland and tree-lined cuttings. It’s a walk that moves from sheltered valleys and open coastal paths to the easy going of the old railway, and it’s one that rewards every step.
Route Overview
The walk begins at the small pay-and-display car park near the Hayburn Wyke Hotel. From here, the route passes the hotel and crosses a field before descending through National Trust woodland to the rocky beach at Hayburn Wyke, where Hayburn Beck tumbles over the cliffs as a double waterfall. After crossing the footbridge over the beck, the path climbs steeply out of the valley to join the Cleveland Way on the clifftop. The coastal path heads north for just over a mile to Petard Point, then continues for a further mile and a half to the Ravenscar World War II Radar Station. Beyond the radar station, the route passes Cliff House and follows the clifftop into Ravenscar, where a descent towards the golf course reveals a magnificent view across Robin Hood’s Bay. The walk then loops back through the village past the Ravenscar Visitor Centre and Tea Rooms before joining the Cinder Track at the former Ravenscar station platform. From there, it’s a straightforward southward walk along the Cinder Track, passing beneath Bent Rigg Lane, through the former Staintondale station and back to the Hayburn Wyke Hotel.
About the Area
Hayburn Wyke is one of the most distinctive natural spots on this stretch of the Yorkshire coast. It’s a Site of Special Scientific Interest, recognised for both its geology and its wildlife. The cliffs date from the Middle Jurassic period, and as the beck has cut through the valley it’s exposed the Hayburn Wyke plant bed, part of the Cloughton Formation, containing around sixty fossil species. One liverwort species found here is known only from Hayburn Wyke. The woodland slopes above the shore are covered with oak, ash, birch, elm and large-leaved lime, with hazel, holly and willow beneath. Breeding birds include chiffchaff, willow warbler, pied flycatcher, redstart and blackcap. The Cleveland Way, which carries the walk north from Hayburn Wyke to Ravenscar, was opened in May 1969 as only the second National Trail in England and Wales, covering 109 miles between Helmsley and Filey Brigg. The path also forms part of the King Charles III England Coast Path. In Ravenscar, the walk passes through a village with a fascinating backstory; as the twentieth century began, ambitious plans were drawn up to develop it into a seaside resort to rival Scarborough and Whitby, but very few plots were ever sold and the enterprise collapsed, leaving the village largely unbuilt.
Walk Highlights
The walk’s full of standout moments. The secluded cove at Hayburn Wyke, where the beck drops over a rocky ledge directly onto the beach, is a rare and beautiful natural feature. The clifftop walking north of the cove offers wide, open views along the coast, with layered cliffs falling steeply to the shore below. At the Ravenscar World War II Radar Station, the surviving buildings tell a compelling story of coastal defence; opened in early 1942, the station formed part of a chain of installations built to detect an approaching enemy fleet, with information passed to the Naval Plotting Room at Immingham. The Communications Hut, Transmitter and Receiver Block, Fuel Store and Engine House all remain, and the site’s now protected as a Scheduled Ancient Monument. Beyond Ravenscar, the descent towards the golf course reveals the finest view on the walk, with the full sweep of Robin Hood’s Bay laid out below and the village just visible beneath the far headland. The return along the Cinder Track brings a welcome change of pace, passing through handsome stone tunnels, tree-lined cuttings and the beautifully maintained former Staintondale station, which opened with the Scarborough and Whitby Railway in 1885 and closed as part of the Beeching cuts in 1965.
Yorkshire Coast Walking Routes: Ravenscar
Distance: 8¾ Miles | Duration: 4¼ Hours | Total Ascent: 1147 Feet
This Ravenscar walk is a superb circular route along the North Yorkshire coast that takes in clifftop scenery, industrial heritage, a historic fishing village and a peaceful return along a former railway line. Starting from the village of Ravenscar, perched some 600 feet above the North Sea roughly midway between Scarborough and Whitby, the walk follows the Cleveland Way north to Robin Hood’s Bay before returning south along the Cinder Track. It’s a walk rich in history, passing through a landscape shaped by centuries of industry, folklore and the forces of nature, and the contrast between the coastal path and the easy going of the old railway makes for a thoroughly enjoyable day out.
Route Overview
The walk begins on Raven Hall Road in Ravenscar, where there’s roadside parking opposite the public toilets. From here, the route heads downhill past the Ravenscar Visitor Centre and through open woodland before joining a concrete track towards the coast. A right turn at the bottom leads to Peak Alum Works, one of the most remarkable industrial heritage sites on the Yorkshire coast, now in the care of the National Trust. Beyond the alum works, the Cleveland Way follows the clifftop northwards for about three quarters of a mile past a Second World War pillbox to Stoupe Beck Sands, then descends into Boggle Hole, where a converted corn mill serves as a youth hostel. The path continues along the coast to Robin Hood’s Bay, dropping down through the steep, narrow streets of the lower village to the beach. From the top of the village, the route picks up the Cinder Track at Thorpe Lane and heads south, passing the Stationmaster’s House at Fyling Hall, Browside Farm and the remains of the Ravenscar Brickworks before rejoining the Cleveland Way for the final stretch back into Ravenscar.
About the Area
Ravenscar sits within the North York Moors National Park and occupies one of the most dramatic coastal positions in the country. Until 1897 the village was known simply as Peak, and its history stretches back almost two thousand years. Around 370 AD, the Romans built a signal station here as part of a chain of coastal defences designed to warn of seaborne raids. A Latin dedication slab unearthed in 1774 during the construction of Raven Hall is now on display in Whitby Museum. The hall itself was built by Captain William Childs, who had purchased the local alum works, and later passed to the Willis family; Dr Francis Willis had grown wealthy treating King George III, and it’s rumoured the king himself may have stayed here. In the late nineteenth century, ambitious plans were drawn up to develop Ravenscar into a grand seaside resort, complete with hotels and promenades. Streets were laid out and a brickworks was established to supply materials, but very few plots were sold and the enterprise collapsed, earning Ravenscar its enduring reputation as the town that never was. Today, it’s a quiet and unspoilt place, marking the eastern terminus of the Lyke Wake Walk and sitting on both the Cleveland Way National Trail and National Cycle Route 1.
Walk Highlights
The walk’s packed with interest from start to finish. Peak Alum Works, active from 1650 until 1860, is a fascinating early stop; at its height, it accounted for roughly ten per cent of the total national output, and the vast spoil heaps from centuries of quarrying are still clearly visible. The clifftop path beyond offers wide views across the bay, with bright yellow gorse lining the route and the coastline curving steadily towards Robin Hood’s Bay. At Boggle Hole, the walk drops into a steep ravine steeped in local folklore; the name comes from a boggle, a mischievous spirit said to have been banished from Robin Hood’s Bay to a cave in the cliffs. The village itself is full of character, its narrow streets lined with stone and whitewashed cottages, many dating back to the sixteenth and seventeenth centuries, and it was once a busier port than Whitby with a long history of smuggling. The return along the Cinder Track brings a gentler contrast, passing through tree-lined cuttings, beneath handsome stone bridges and past the former Fyling Hall station, which opened in 1885 and was a regular winner of the best-kept station award on the Scarborough to Whitby line.
Yorkshire Coast Walking Routes: Robin Hood’s Bay
Distance: 9¼ Miles | Duration: 4¼ Hours | Total Ascent: 945 Feet
This Robin Hood’s Bay walk is an enjoyable circular route that takes in one of England’s most distinctive fishing villages, wide open clifftop walking and a relaxed return along a former railway line. Starting from Station Car Park in Robin Hood’s Bay, the walk heads south along the Cinder Track before looping down to the village itself, then follows the Cleveland Way north along the clifftops to High Hawsker. The return leg picks up the Cinder Track once more, heading back east towards the coast. It’s a route full of contrast, combining the character and history of the village with layered Jurassic cliffs, exposed coastal paths and the easy, well-surfaced track of the old Scarborough to Whitby railway.
Route Overview
The walk begins at Station Car Park, close to the former Robin Hood’s Bay station buildings. From here, the route joins the Cinder Track and heads south past Middlewood Farm Holiday Park before turning off along Mark Lane to pick up the Cleveland Way. The coastal path leads down into Robin Hood’s Bay, where the route climbs through the steep, narrow streets of the village to the cobbled roundabout by the Victoria Hotel. From there, the walk follows Mount Pleasant North to rejoin the Cleveland Way and heads north along the clifftops. The path passes above Bulmer Steel and Ness Point, continues through Rain Dale and Limekiln Slack, and carries on past Northcliffe Holiday Park before dipping through two small wooded ravines. A public footpath then leads inland across fields to a broad stone track, which crosses the Cinder Track and continues to the B1447 at High Hawsker. After passing through the village, the route picks up Bottoms Lane and rejoins the Cinder Track for the two-and-a-half-mile return east to Robin Hood’s Bay.
About the Area
Robin Hood’s Bay is a maze of narrow streets and red-roofed cottages tumbling down a steep hillside to the sea, locally known simply as Bay or Bay Town. It sits within the North York Moors National Park, and its history stretches back centuries. The origin of the name remains uncertain, with the earliest recorded reference dating from a letter written between 1322 and 1346 by Louis, Count of Flanders, to King Edward III. The village has a long and colourful association with smuggling; during the eighteenth and early nineteenth centuries it was one of the busiest smuggling hubs on the Yorkshire coast, and there’s a long-standing claim that a bale of silk could pass from the bottom of the village to the top without seeing daylight. Fishing reached its peak in the mid-nineteenth century, when the village had nearly 200 boats operating from the bay, making it a larger industry than Whitby’s. The beach and foreshore sit on one of the finest stretches of Jurassic coastline in northern England, with rocks dating from 185 to 200 million years ago, and ammonites are the most commonly found fossils. Robin Hood’s Bay is also where the Coast to Coast Path meets the sea; the 197-mile route from St Bees in Cumbria was officially launched as a National Trail in March 2026 following a £5.6 million programme of improvements.
Walk Highlights
The village itself is a highlight, with its tightly packed stone and whitewashed cottages, independent shops and pubs lining the steep streets. Points of interest include the old police station at Beckfield, built in 1886 to deal with brawling navvies working on the railway, a Victorian water fountain re-installed in 2016, and a memorial stone marking the remarkable 1881 rescue of the brig Visiter, when the Whitby lifeboat was hauled six miles overland through heavy snowdrifts. The clifftop walking north of the village is consistently impressive, with layered Jurassic cliffs, eroded headlands and wide views along the coast towards Whitby. An Ordnance Survey viewpoint early on the Cleveland Way offers one of the finest views on the walk, looking back across the village and the full sweep of the bay towards Ravenscar. The return along the Cinder Track, which follows the old Scarborough to Whitby Railway, closed in 1965, provides a peaceful contrast, with a particularly fine viewpoint south across the bay from a small stone bridge near the village. The walk finishes back at Station Car Park opposite The Grosvenor Hotel, a handsome red-brick building from the late 1890s that’s a popular stop for walkers.
Yorkshire Coast Walking Routes: Runswick Bay
Distance: 8¼ Miles | Duration: 4 Hours | Total Ascent: 1080 Feet
This Runswick Bay walk is a circular route along the North Yorkshire coast that links two of the region’s most characterful fishing villages, takes in striking clifftop scenery and ironstone heritage, and returns through peaceful woodland and the historic village of Hinderwell. Starting from Runswick Bank Top, the walk follows the Cleveland Way north along the clifftops to Port Mulgrave and on to Staithes before heading inland through the hamlet of Dalehouse and the Oakrigg Wood Nature Reserve. It’s a walk rich in history and contrast, moving from sheltered sandy bays and tightly packed coastal villages to exposed cliff edges, former industrial landscapes and quiet country paths. Of the five Yorkshire Coast walking routes featured here, it’s the one that ventures furthest north.
Route Overview
The walk begins at the pay-and-display car parks on Bank Top Lane at Runswick Bank Top. Before joining the coastal path, there’s time to explore the lower village and beach at the foot of the steep hill. From there, the route picks up the Cleveland Way and heads north along Lingrow Cliffs to Port Mulgrave, where the remains of a nineteenth-century ironstone harbour sit below the clifftop path. Continuing north past the National Trust headland at Old Nab, the path descends into Staithes, dropping down a cobbled lane to the harbourfront and the Cod and Lobster pub. After crossing the footbridge over Staithes Beck and exploring the harbour and breakwater, the route climbs out of the village and follows a minor road down into Dalehouse. From there, a quiet path along a former tramway leads into Oakrigg Wood Nature Reserve before the route continues south to Hinderwell, where St Hilda’s Church and the Holy Well are well worth a visit. The final mile follows the road back to Runswick Bank Top.
About the Area
Runswick Bay is one of the most striking locations on the North Yorkshire coast, sitting roughly nine miles north-west of Whitby within the North York Moors National Park. It was named Beach of the Year by The Sunday Times in 2020. The structure of the lower village is a direct result of the Great Landslide of 1682, which destroyed the original settlement further north; remarkably, every inhabitant escaped to higher ground and no lives were lost, and the village was rebuilt on its present, more sheltered site. The bay holds international importance for its geology, with cliffs revealing rocks from the Early Jurassic period dating back nearly 200 million years, and ammonites and belemnites are commonly found along the shore. The caves at the edge of the bay, known as Hob Holes, are tied to local folklore; until the late 1800s, mothers would carry children suffering from whooping cough to the cave at low tide and call out to the Hob, a benevolent spirit believed to have healing powers. Port Mulgrave, further along the coast, was once a thriving ironstone mining centre where stone was carried by tramway from Grinkle Mine and shipped to the Palmer shipyard at Jarrow. Staithes, at the walk’s halfway point, has a long history as a fishing port and is where the young James Cook worked as an apprentice in 1744 before leaving for Whitby and a life at sea.
Walk Highlights
There’s no shortage of memorable moments on this walk. Runswick Bay’s lower village, with its sandstone cottages, red pantile roofs and maze of narrow paths and ginnels, rewards a slow wander before the clifftop walking begins. The Cleveland Way above Lingrow Cliffs reveals layered bands of Jurassic rock in tones of ochre, grey and rust, while at Port Mulgrave an information board tells the compelling story of the ironstone shipped from here to build HMS Queen Mary, the battlecruiser sunk at the Battle of Jutland in 1916. From Old Nab, Staithes comes suddenly into view, its red rooftops packed tightly above the harbour with the bold cliff of Cowbar Nab rising behind. In Dalehouse, a path along the former tramway leads into Oakrigg Wood Nature Reserve, where carved wooden sculptures line the route beneath a canopy of native oaks. In Hinderwell, St Hilda’s Church and the ancient Holy Well in the churchyard add a quieter, more contemplative note; the well is the only scheduled ancient monument in the parish and was once a place of pilgrimage, its waters said to have healing properties. Near the end of the village, a Grade II listed sandstone clock tower unveiled in 1921 commemorates the thirty-five men from Hinderwell, Port Mulgrave and Runswick who lost their lives in the two World Wars.