Milking Hill

The walk up Milking Hill from Richmond takes you through proper Yorkshire moorland, and the views across Wensleydale once you crest the top are genuinely worth the leg work. It's not a gruelling hike - more of a steady ramble that gets your heart going without leaving you gasping. The peak itself sits at a decent height without being Alpine, which makes it accessible for most walkers and the kind of thing families with energetic kids won't find tedious.

What you get at the summit is a 360-degree sweep of the Dales - moorland rolling away in all directions, and on a clear day you'll spot Pendragon Castle off in the distance. The heather and grass underfoot change with the seasons, which means it's worth revisiting if you're staying locally for a bit. Weather matters here more than most walks, mind you. Come up in mist and you'll see precious little beyond fifty metres.

Allow a couple of hours for a steady outing from Richmond town centre. The footpaths are generally well-maintained, though a decent pair of boots helps after rain. There's no charge for the walk itself, and the whole thing plays perfectly if you're based at Usha Gap Farm & Campsite just down the road - near enough for an afternoon sortie, far enough that you're genuinely away from the carpark crowds. The other nearby options at Cherish Glamping and Hawes give you different angles into the Dales if you fancy exploring further afield.