Beacon Hill

Standing at 393 metres above sea level, this modest summit offers one of the finest panoramic views across Wharfedale and the Yorkshire Dales beyond. The climb from Ilkley takes about 45 minutes through heather moorland, and while it's not technically challenging, the final approach can get properly muddy after rain.

Families with older children will manage the walk without too much fuss, though little ones might struggle with the boggy sections near the top. The reward at the summit is well worth the effort - on clear days you can see across to Pen-y-ghent and the Three Peaks, with the Cow and Calf rocks clearly visible below.

What makes this walk particularly good value is the variety of routes back down. You can loop round via the old Roman road or head straight back the way you came. Either way, allow about two hours for the full circuit.

The summit itself is marked by a modest cairn and an Ordnance Survey trig point, nothing fancy but the views more than compensate. Best visited in late afternoon when the light catches the valley below, though summer weekends can get busy with day-trippers from Leeds and Bradford.

With several caravan parks clustered around Ilkley including Moor Lodge and Glenfield, this makes an excellent morning expedition before heading back to base camp for lunch.