Skipton

Medieval castle towers still dominate the High Street here, where cattle drovers once gathered before heading across the moors. Skipton's market town heritage runs deep - the cobbled streets around Holy Trinity Church buzz with proper Yorkshire life, while the Leeds-Liverpool Canal cuts a peaceful path right through the heart of things.

Skipton Castle is the real showstopper. Built in 1090, it's one of the most complete medieval castles in England, and the Clifford family still live there after 900 years. Bit mad when you think about it. The Great Hall and kitchen are fascinating, and the yew tree in the central courtyard is older than the castle itself.

Canal trips with Skipton Boat Trips offer a gentler pace. The hour-long journey to Gargrave shows off the Dales countryside at its finest, passing through locks and under stone bridges. If trains are more your thing, the Embsay & Bolton Abbey Steam Railway runs vintage locomotives through stunning countryside to Bolton Abbey - well worth the trek.

Shopping here feels properly local. The twice-weekly market fills the High Street with Yorkshire produce, while independent shops line Sheep Street and the Craven Court shopping centre. Lunch at one of the canal-side pubs makes for a lovely break.

Getting here is straightforward - Skipton sits on the main A65 between Leeds and Kendal, with regular trains from Bradford and Leeds taking about 40 minutes. The town makes an excellent base for exploring the southern Yorkshire Dales, with Malham Cove and Grassington both within easy driving distance. Several holiday parks dot the surrounding countryside, putting you right in the heart of some of England's finest walking country while keeping castle visits and canal trips on your doorstep.