Base yourself in one place for the whole week and explore in loops: Helmsley for the south and west, Whitby for the coast and Esk Valley, or somewhere central like Rosedale or Hutton-le-Hole for everything. This plan assumes a central base.
Day 1: Arrive and settle
Hutton-le-Hole and the Ryedale Folk Museum in the afternoon, a short walk up the road to see Lastingham crypt, and a moor-top drive over Blakey Ridge with a drink at the Lion Inn.
Day 2: The coast
Robin Hood's Bay at low tide for the rock pools, the cliff path to Boggle Hole, then an afternoon in Whitby: abbey, harbour, fish and chips.
Day 3: Steam and waterfalls
The railway from Pickering to Goathland, Mallyan Spout, the riverside walk to Beck Hole and the Rail Trail back. Train home.
Day 4: The escarpment
Rievaulx Abbey in the morning, Helmsley for lunch, Sutton Bank and Gormire Lake in the afternoon.
Day 5: The high moor
The Rosedale ironstone railway circuit, four hours on a level track around the dale head with kilns, curlews and the Lion Inn half way. Rosedale Abbey for tea afterwards.
Day 6: The northern edge
Roseberry Topping in the morning, Great Ayton for lunch by the river, then the Esk Valley villages: Danby, the Moors Centre and a drink in Castleton or Lealholm.
Day 7: Fishing villages
Staithes and Runswick Bay, the two prettiest villages on the coast, with the cliff walk to Port Mulgrave if legs allow. Sandsend beach on the way home.
Buy the OS Explorer OL26 and OL27 maps on day one
Keep the coast for the day with the best weather forecast
Dalby Forest is the rainy-day fallback with children
