Skipton

Wednesday afternoons here feel properly sleepy. Locals potter between the independent shops on the High Street while tourists crane their necks at the imposing medieval castle that dominates the town centre.

Skipton wears its 'Gateway to the Dales' title well. This market town has that rare quality of feeling lived-in rather than preserved for visitors. The cobbled streets around Holy Trinity Church buzz on market days, but come evening, it's all Yorkshire stone and quiet pubs.

Castle enthusiasts won't be disappointed. Skipton Castle is one of the most complete medieval fortresses in England, and you can climb the ramparts for cracking views across Wharfedale. The nearby woods conceal Barden Tower, a 15th-century hunting lodge that's worth the short drive if you fancy a bit of exploring.

Outdoor types have proper choice here. The Strid, that notorious stretch of the River Wharfe where the water squeezes through a narrow gorge, draws walkers year-round. More ambitious hikers tackle the surrounding peaks - Green Thorn Hill and Turmner Hill offer decent climbs without being too punishing.

Getting here couldn't be simpler. The train from Leeds takes about 40 minutes, and there's decent parking if you're driving from further afield. The A65 connects Skipton to both the Lake District and the heart of the Yorkshire Dales.

Staying at one of the nearby parks makes perfect sense. You're close enough to nip into town for supplies or a proper pub dinner, but positioned right on the doorstep of some of Yorkshire's finest walking country. Bolton Abbey is just down the road, and you can reach Grassington or Malham in under half an hour.