Old Mulgrave Castle

You'll find yourself walking through proper woodland before the ruins appear - and that's half the charm of Old Mulgrave Castle. Perched above the River Esk near Whitby, these remains of a medieval fortress sit in a genuinely atmospheric spot that feels miles from anywhere, even though it's just a short walk from the village of Egton Bridge.

What's left isn't much - crumbling walls, a tower base, the ghost of what once was - but that's exactly why it works. Rather than being crowded and over-interpreted, you get to do the imagining yourself. The walk in through the trees takes about fifteen minutes, and the climb down to the castle grounds involves some steep sections. Bring proper footwear and expect mud after rain.

This appeals most to walkers and history types rather than kids after instant gratification - there's no café, no visitor centre, just the ruin itself and the riverside setting. The views across the valley reward the effort, particularly on clearer days. You're looking at an hour, maybe ninety minutes total if you're leisurely about it.

If you're staying at Broadings Farm Caravan Site or Whitby Holiday Park, it makes a proper half-day excursion that won't break the bank - admission appears to be free, though the land is accessible rather than formally maintained. Worth combining with a walk along the river or heading into Whitby itself afterwards. The castle works best when you've got time to wander rather than as a quick tick-box stop.