Skipton

The Pennine Way runs right through this market town, which tells you everything about Skipton's position as a proper gateway to the Yorkshire Dales. Limestone hills rise on all sides, and the medieval castle still lords it over High Street like it has done for 900 years.

This isn't some sleepy heritage town, mind you. Market day brings serious crowds to the cobbles, and the Leeds-Liverpool Canal keeps a steady stream of narrowboats chugging through. The station connects directly to Leeds and Bradford, making it dead easy to escape the cities for a long weekend.

Heading north into the Dales proper, Kilnsey Crag juts out like a massive limestone shelf above the valley floor. It's a right magnet for climbers, though most folk are content to gawp from below. Kilnsey Park and Trout Farm sits in its shadow if you fancy watching rainbow trout being fed or trying your hand at fishing.

Buckden Pike dominates the horizon further up Wharfedale, a proper fell walk that'll have your legs burning on the way up. For something less demanding, the network of caves around here includes Douky Bottom Cave and Height Cave - though these aren't show caves, so bring a torch if you're planning any underground exploring.

Staying at one of the nearby parks puts you bang in the middle of walking country without the Grassington crowds. Wood Nook and Wharfedale sites give easy access to the fells, while Bolton Abbey Estate's campsite gets you closer to the famous priory ruins down the valley. The A65 whisks you into town for supplies, or you can walk the towpath if the weather's decent.