Mill Bay

The walk down to Mill Bay takes you through proper Devon countryside - all rolling fields and hedgerows - before the estuary suddenly opens up and you're standing on a small shingle beach with the Kingsbridge Estuary stretching out in front of you. It's quiet, which is the whole appeal. No ice cream vans, no deckchairs for hire, just a working fishing village vibe with a few boats bobbing about and the sound of water lapping against the stones.

Walkers get the most out of this spot. The approach is gentle enough but takes about fifteen minutes from the car park, so it's not one for the very young unless they're keen. The beach itself is narrow and pebbly - don't expect golden sand - but the views across the estuary are genuinely lovely, especially at high tide when the water comes right up. Low tide reveals mud flats which honestly look a bit grim, so time your visit accordingly.

It's free to visit and there's nowhere to buy food here, so bring a picnic if you're staying for a while. An hour is usually enough unless you're determined to walk further along the coastal path. Mill Bay works brilliantly as a break during a park holiday around Kingsbridge - Wilton Farm Camping and South Devon Camping are both within easy reach. It's the sort of place you go to actually see Devon rather than just pass through it.