1. Malham Circular Walk (Janet’s Foss & Malham Cove)

This is simply one of the most popular walks in the National Park and was recently voted #3 in ITV’s all-time top 100 walks. The route begins in the beautiful village of Malham before heading out through the magical woodland that is home to Janet’s Foss waterfall, named after the queen of the fairies.

There is then the option to extend the walk into Gordale Scar, a hidden gorge that has been carved deeper and deeper by the meltwater of successive Ice Ages. It’s a popular location in film and TV, having recently featured in the Netflix hit The Witcher. Finally, the walk takes in Malham Cove, a giant 230ft high cliff of white limestone that curves to form a natural amphitheatre below.

This 4.5mile walk will take around 3hours to complete, or there’s the option to visit each landmark separately.

2. Muker Circular Walk (Hay Meadows & Kisdon Force)

Muker is one of the best places to see upland hay meadows in the Yorkshire Dales National Park, with a footpath that runs through the heart of this stunning habitat.The species-rich wildflower meadows are at their best between late May and early July.

The walk begins in Muker village following a flagstoned footpath through the hay meadows and onto the waymarked route upriver alongside the Swale. Along the way there are several disused farmhouses, one of which is Hartlakes, reputedly one of the most haunted places in the country. Once at Keld there’s a chance to view Catrake Force and Kisdon Force waterfalls before heading back down the valley, offering extensive views down Swaledale. This 5.5 mile walk will take around 2½ hours to complete.

3. Aysgarth Circular Walk (Freeholders’ Wood & Aysgarth Falls)

There are three walks to choose from at Aysgarth Falls, a popular location with first time visitors. The main waterfall walk takes in the mighty upper, middle and lower falls, spread over a mile of the river Ure, and which feature in the movie Robin Hood: Prince of Thieves, where Robin fights with Little John in the river.

The woodland walk wends its way through Freeholders’ Wood, a local nature reserve comprising ancient woodland and an abundance of wildlife. You may see or hear the birdsong of nuthatch, chaffinch, warblers and more, and in a very quiet moment you may see roe deer, woodmice, shrews or even red squirrels.

Finally, there’s the option of a gentle countryside walk which takes in the middle and lower falls before heading out into the Wensleydale countryside towards the village of Carperby. This 2.7mile walk will take around 1½ to complete.

4. Grassington Circular Walk (Grassington & Hebden)

The wonderful Grassington circular walk offers fine views of Wharfedale without straying far from the nearest facilities. Quickly and gently rising above Grassington, it passes over stiles through woodland and hay meadows across farmland to the pretty village of Hebden. The walk affords impressive views across the valley and the distinctive pattern of earthwork lynchets – terraces for growing crops – as well as the patchwork of drystone walls, a classic feature of the Yorkshire Dales.

Look out for the low, odd, conical-shaped limestone hills across the Wharfedale valleywhich are reef knolls – geological remnants of an ancient coral reef which formed in a shallow prehistoric sea around 300 million years ago.

The route is easy to access and has refreshment breaks at either end, with options to return the same way, continue on a higher level path to make the trail circular, or even do a short segment from Grassington before turning back. This 4 mile walk will take around 2-3 hours to complete.

Download the maps and route details of these and many other walks – and discover more about the history, landscape, wildlife and culture of the Yorkshire Dales National Park – at www.yorkshiredales.org.uk

Images: 1. Stephen Garnett 2. Mark Sadler 3. Paul Hariss