Robin Hood's Bay and Beach

The beach at Robin Hood's Bay drops away steeply from a tangle of red-roofed cottages that seem to tumble down the clifftside. It's a proper working fishing village, not the manicured sort you find further south, and that's exactly why it works.

You'll be picking your way down cobbled streets lined with tea rooms and second-hand bookshops before the shale beach opens up beneath you. Low tide reveals a decent stretch of grey-brown sand and rock pools - the kind kids will spend an hour investigating without complaint. The cliffs behind are geological gold; layers of rock in burnt orange and rust show 180 million years of Jurassic history if you know what to look for. Fossils turn up regularly after storms, though finding one yourself requires patience.

Allow two or three hours minimum. The walk down is manageable but steep enough that you'll feel it on the way back up, especially if you've got small legs in tow. Wander the village properly - there's a proper community here, not just tourist tat. The pub does decent fish and chips.

It's only three miles south of Whitby, so easy to combine with a day at the bigger town. Staying at Whitby Cliff Top Touring Park puts you within spitting distance. The bay itself is free, naturally - this isn't the sort of place with entrance fees. Come on a weekday in spring or autumn if you want to avoid the worst of the crowds. Summer weekends get rammed.