Best of the Moors, Yorkshire

The North York Moors National Park, with its lush woodlands, flowing streams, and wide swaths of heather moorland, makes for an unforgettable road journey. Although the travel from Helmsley to the coastal resort of Staithes is short and lovely, it may be spread out over a couple of days if you prefer an overnight stop in a rural B&B. Take the A170 towards Pickering and Thornton-le-Dale, passing moss-covered drystone walls and grazing sheep. Then take the A169 up to the coast, passing via Goathland and Grosmont.

The North York Moors is one of the most dog-friendly places in the UK, with B&Bs, glamping, and other lodging choices accepting canine family members. When your pooch wants to go exploring, there are lots of canine-friendly bars and beaches to choose from. Dalby Forest is an excellent area to stretch your legs or go for a bike ride if you have one. If you stop at Goathland, you may visit Mallyan Spout, the highest waterfall in the Moors. Due of the rural character of the North York Moors, sat-navs may not be completely trustworthy.

Distance and ideal duration: 42 miles, 1-2 days