Robin Hood Cave

The cave itself is modest - a sandstone hollow carved into the rock face near Worksop that legend claims once sheltered the outlaw Robin Hood himself. In reality it's probably just a medieval shelter or quarry, but the story is good enough that people have been visiting for centuries. You'll find it tucked into woodland, and the walk to reach it takes about twenty minutes from the nearest car park. It's the sort of spot that works best if you're already in the area rather than a destination unto itself.

History buffs will find the medieval connection interesting, and kids enjoy the adventure of hunting it out, though the cave won't keep them occupied for long. The surrounding woodland is proper pleasant - enough for a ramble and a picnic. Allow an hour or so if you're making a proper outing of it. As far as I can tell, it's free to visit and accessible most of the year, though conditions underfoot can get boggy in winter.

For a caravan holiday based at somewhere like Clumber Park Lodges or the nearby Riverside Caravan Park, this makes a decent half-day excursion combined with a walk through Sherwood Forest proper. Don't expect dramatic geology or archaeological displays - there's nothing formal here. It's about being in the landscape where the legends took root, and that's worth the trek if you're into that sort of thing.