A clear morning on the A169 above Goathland can make even a short journey feel like part of the holiday. Heather moorland opens out ahead, the road rises and falls, and there is usually a good reason to stop before you reach the coast. That is what makes the best scenic drives North Yorkshire so rewarding in a motorhome – the views are close together, but travelling at a sensible pace matters more than trying to cover every mile.
North Yorkshire has grand, open roads as well as lanes that can become tight, steep or busy in summer. The routes below are chosen with motorhome travellers in mind. Some are straightforward touring roads; others are best treated as a scenic detour only if you are comfortable with narrower stretches. Check current road conditions before setting off, especially after heavy rain, snow or high winds.
1. The North York Moors to Whitby: Pickering to Whitby
The route from Pickering to Whitby via the A169 is one of the most satisfying first drives for a North Yorkshire tour. It takes you from market-town surroundings into open moorland, past Goathland and across the high ground before descending towards the coast.
For motorhomes, the A169 is generally the sensible choice. It has bends and gradients, particularly around the moors, but it is a proper main road rather than a collection of narrow lanes. Keep your speed modest on the descent towards Whitby and use lower gears where needed rather than relying on the brakes.
Goathland is worth a pause if you can park appropriately, while the viewpoint near Saltersgate offers a real sense of the moors. Whitby itself is best enjoyed once you have a planned place to park or stay. Its streets can be congested, and a motorhome is much easier to manage from an outer car park or campsite than in the town centre.
2. Sutton Bank and the Hambleton Hills
The view from Sutton Bank over the Vale of York is one of those sights that genuinely lives up to the photographs. Approaching from Thirsk or Helmsley gives you a scenic drive through the Hambleton Hills, with woodland, fields and broad views rather than a relentless series of sharp mountain bends.
There is one practical point that deserves attention: Sutton Bank has a steep climb and is subject to restrictions for certain larger vehicles. Motorhome drivers should check the current signs and vehicle limits before choosing their approach. If your vehicle is within the permitted dimensions, take the climb calmly and allow faster local traffic to pass when safe.
The area works particularly well for a half-day outing. Park up, walk to the viewpoint and enjoy the National Park Centre rather than treating it as a quick photograph through the windscreen. On clear days, the panorama is the reward for taking your time.
3. Helmsley to Hutton-le-Hole and Kirkbymoorside
For a gentler moorland drive, head from Helmsley through Kirkbymoorside towards Hutton-le-Hole. This is less dramatic than the high roads around Whitby, but it is ideal for travellers who want attractive villages and manageable distances alongside their scenery.
Helmsley makes an excellent starting point, with its castle, walled garden and independent shops. From there, the road gradually leads into a landscape of stone walls, sheep pasture and moorland edges. Hutton-le-Hole is a pleasant place to stop, although parking availability can be limited at busy times, so do not assume there will be space for a longer motorhome.
This is one of the best scenic drives in North Yorkshire for a relaxed day when you would rather stop for lunch, browse a village shop or take a short walk than chase a long-distance route. It also gives first-time motorhome hirers a chance to build confidence on roads that feel rural without being overly demanding.
4. Wensleydale: Leyburn to Hawes on the A684
The A684 through Wensleydale is a strong choice for anyone wanting classic Yorkshire Dales scenery without committing to the narrowest roads. From Leyburn, the valley draws you west through villages, green fields and limestone country towards Hawes.
The road can be busy, particularly in school holidays and at weekends, but it is usually a comfortable route when driven patiently. Expect tractors, cyclists and walkers crossing near villages. The key is to leave enough time that none of this feels like a delay.
Stops along the way might include Aysgarth Falls, the market town of Hawes and the village of Askrigg. Each has its own parking considerations, so it is often better to choose one or two stops than attempt them all. Hawes is a useful place to restock supplies, but larger vehicles should avoid squeezing into spaces not intended for them.
5. Hawes to Buttertubs Pass: A Viewpoint Detour
Buttertubs Pass is famous for its dramatic limestone formations and high Dales views. It is also a route where a little honesty helps: it is not the best option for every motorhome. The road between Hawes and Thwaite is narrow, winding and popular with cyclists, motorcyclists and sightseers.
Smaller coachbuilt motorhomes with a confident driver can enjoy it outside peak periods, provided they are prepared to use passing places properly and reverse if necessary. For larger motorhomes, or for anyone new to rural driving, it is wiser to admire the wider Wensleydale and Swaledale roads instead. There is no shame in choosing the route that lets you enjoy the view rather than worry about the next blind bend.
If you do drive the pass, go early, avoid stopping in unsafe places and keep an eye on the weather. Mist can arrive quickly on high ground, changing a beautiful road into one with very limited visibility.
6. The Blakey Ridge Road: Hutton-le-Hole to Castleton
The road over Blakey Ridge offers one of the wildest-feeling drives in the North York Moors. Leaving the villages behind, you reach wide open heather moorland where the horizon seems to run on for miles. In late summer, when the heather is in flower, it is particularly striking.
This is not a technically difficult main-road drive in good conditions, but it is exposed. High winds, fog and winter weather can make it feel very different from the sheltered roads lower down. Fuel is also not something to leave until the last minute when touring this part of the moors.
Castleton is a good point to pause before continuing towards Danby or the coast. Keep to the road, use designated places to park and remember that moorland verges can be soft even when they look firm.
7. The Esk Valley: Castleton to Grosmont and Goathland
The Esk Valley provides a more enclosed alternative to the high moors. From Castleton, take the roads towards Danby, Lealholm and Grosmont, following a landscape of wooded slopes, stone villages and the river valley. It feels quieter and more intimate than the A169 route to Whitby.
The trade-off is that parts of this area are narrower. They are perfectly manageable when approached with care, but they are not roads to rush. Watch for oncoming traffic around bends, use passing places considerately and never pull onto a verge just to get out of someone else’s way.
Grosmont is well known for its heritage railway atmosphere, while Goathland is an easy onward stop if you have not already visited. This is a lovely route for travellers staying locally for two or three nights, rather than trying to fit it into a coast-to-coast day.
8. Swaledale: Reeth to Keld and Back
The road from Reeth towards Keld is among the finest Dales drives, running alongside the River Swale beneath green hills and old stone barns. The scenery is superb, but it needs the same sensible judgement as Buttertubs Pass. Beyond Reeth, the road becomes narrower and passing can take time.
A smaller motorhome can manage the route when conditions are quiet and the driver is happy on single-track sections. If that does not sound like your idea of a relaxing afternoon, base yourself in Reeth and explore on foot, by bike or in a smaller vehicle instead. The village itself is a worthwhile destination, with a broad village green and a proper sense of being in the heart of the dale.
Make the Drive Part of the Plan
The best route is not always the one with the most famous viewpoint. It is the one that suits your motorhome, the weather, your confidence and how much time you have before arriving at your overnight stop. Plan fewer miles than you would in a car, keep an eye on height and width restrictions, and aim to reach a campsite or stopover well before dark.
At Driveaway Holiday, we find that a short handover conversation about the roads you hope to take can make a real difference, especially for first-time hirers. North Yorkshire rewards steady travelling: pull over only where it is safe, let the local traffic pass, and leave enough room in the day for an unexpected view, a village bakery or a walk that was never on the original plan.