Worksop

The old coal mining town that grew up around the Dukeries has shaken off its industrial past to become a proper gateway to Sherwood Forest. Worksop sits on the edge of some of England's finest woodland, where ancient oaks still stand and Robin Hood legends feel more plausible than touristy.

Clumber Park dominates the area - and rightly so. This National Trust estate sprawls across 3,800 acres of parkland, complete with the longest lime tree avenue in Europe and a cracking Gothic Revival chapel that's worth the visit alone. The Walled Kitchen Garden produces everything from heritage apples to prize-winning vegetables, while the Discovery Centre does a decent job explaining the area's ducal history without being too stuffy about it.

Beyond the main attraction, the surrounding forests offer proper walking country. Deer Lay and Five Thorns provide quieter alternatives to the busier park paths, though you'll need to know your way around - the signposting can be hit and miss.

Worksop itself won't win any beauty contests, but it's got character and decent pubs. The town centre's seen better days, particularly midweek when half the shops seem shuttered, but there's life in the old place yet.

Getting here's straightforward enough - the A57 runs straight through, and it's barely 20 minutes from Junction 31 on the M1. Sheffield's your nearest big city, about 45 minutes north.

Staying at one of the holiday parks makes perfect sense if you're planning to explore properly. Sherwood Pines Camping gets good reviews and puts you right in the thick of the forest without the crowds that descend on Clumber Park's car parks at weekends.