Parking
Start at All Saints Church, Helmsley (YO62 5AD). There is no single full-route car park; arrange stage-by-stage access, transport and accommodation.

North York Moors National Park, EN
Nine-stage, 41-mile circuit linking Ryedale churches with Rievaulx Abbey
Overview
Map & elevation
Plan your hike

The highest, rockiest slopes around here are a summer buffet for grizzly bears.
North York Moors Tour Guide
Parkwolf is a GPS audio tour guide for North York Moors National Park. As you drive, it chimes in with what’s ahead: hidden gems, upcoming stops, history, geology, and wildlife, right through your car’s speakers.
Recorded for this trailhead
Helmsley Castle and Town“Helmsley's market square is coming up, with the castle a short walk away. Inside those medieval defences, look for the surviving timber panelling and plasterwork: part of the fortress became an Elizabethan mansion.”
Plays as you drive up to this trailhead in the Parkwolf North York Moors Tour Guide.
More stories near here in the app
Trail guide
This is the complete 41-mile circular pilgrimage route, normally walked as nine official stages rather than in one push. Total walking time works out at about 22 hours across the whole circuit. Difficulty for the full route is 7/10, mostly because of the sheer accumulation of rural miles, hills, stiles and road sections, not because of any single hard climb.
It starts and finishes at All Saints Church, Helmsley (YO62 5AD), and links the churches of Upper Ryedale and Helmsley with Rievaulx Abbey.
The stages run in this order:
1. Helmsley to East Moors
2. East Moors to Bilsdale
3. Bilsdale to Hawnby
4. Hawnby to Old Byland
5. Old Byland to Scawton
6. Scawton to Cold Kirby
7. Cold Kirby to Rievaulx Abbey
8. Rievaulx Abbey to Sproxton
9. Sproxton back to Helmsley
The walk builds through a string of village churches and reaches Rievaulx Abbey at the end of stage 7, which is the natural high point of the route, before the last two stages bring you back round to Helmsley.
Stages vary a lot in length, so you can pair short ones or take a long stage as a day on its own.
Underfoot you get village streets, public footpaths, bridleways, farm tracks, river-valley paths, fields, moorland-edge sections and roads. It is not an all-weather surfaced trail, and conditions vary across farmland and tracks.
Road exposure is worth planning for:
Stiles are common on the rural sections. On stage 6 there is a steep path behind the signpost that can be slippery after rain, and an alternative is shown on the official map.
Dogs may use public rights of way, but not most moorland open-access land, and the frequent stiles make some sections awkward. Keep your dog on a short lead near livestock, never let it chase animals or birds, and use extra lead control from 1 March to 31 July in moorland nesting areas.
There is no single trail car park for the full route, so plan it stage by stage. Start and finish at All Saints Church in Helmsley, and sort out transport between stage ends and accommodation before you set off, especially if you are stringing several stages into consecutive days.
If you mainly want the abbey without committing to the whole pilgrimage, the Helmsley and Rievaulx Abbey circuit is a much shorter 7-mile option.
Wildlife
15 sightingsEurasian OtterMost seen around 7 PMSighting map
10 sightingsRed DeerMost seen around 7 AMSighting map
79 sightingsGrey SealMost seen around noonSighting map
26 sightingsWestern Barn OwlMost seen around 7 PMSighting map
33 sightingsEuropean BadgerMost seen around 7 PMSighting map
10 sightingsMute SwanMost seen around noonSighting mapSighting maps show where each species has been reported across North York Moors. Wildlife moves, so no sighting is guaranteed.
Keep exploring
ChallengingThe Inn Way to the North York Moors143.2 km · 2 days · 0.1 km awaySix days of moorland ridges, hidden dales and village inns.
ModerateHelmsley and Rievaulx Abbey11.3 km · 4 hr · 0.1 km awayAbbey ruins, a terrace panorama and bluebell woods on a 7-mile circuit
ModerateEbor Way122.9 km · 1.5 days · 0.1 km awayHelmsley to Ilkley on foot: farmland, York's walls, then gritstone moor
ChallengingCleveland Way National Trail175.4 km · 2.3 days · 0.2 km awayNine days from abbey ruins over heather moors to North Sea cliffs
EasyHelmsley Circular Route5.8 km · 1.4 hr · 0.4 km awayEasy river loop along both banks of the Rye, through beech woodland
EasyRiver Folk Audio Trail3.7 km · 1 hr · 3.8 km awayShort river valley loop with downloadable audio stories by Rievaulx Abbey
EasyRievaulx Loop3.7 km · 1 hr · 3.9 km awayAncient canal line, Bow Bridge and abbey views in one easy hour
EasyMiles without Stiles (For some) - Rievaulx Loop4 km · 1.1 hr · 3.9 km awayAbbey views, bridges and bluebell woods on a short, hilly 2.5-mile loop
Sight · 0.1 km awayHelmsleyThe moors' only market town, and the Cleveland Way's first mile
Sight · 0.3 km awayHelmsley CastleNine centuries of siege and splendour in a towering, ditch-ringed ruin
Sight · 0.4 km awayHelmsley Walled GardenFive walled acres of borders, glasshouses and orchards below the castle
Sight · 1.1 km awayNational Centre for Birds of PreyEagles, owls and vultures flying free in ancient Duncombe woodland
Sight · 3.4 km awayRievaulx TerraceGrassy Georgian terrace with two temples and framed abbey views
Sight · 3.7 km awayRievaulx AbbeyTall Cistercian church arches in a quiet wooded river valley
Sight · 6.8 km awaySt Gregory's Minster, KirkdaleAnglo-Saxon sundial and inscription above a quiet valley church door
Sight · 7.9 km awayByland AbbeyByland Abbey: vast early Gothic ruins under a shattered rose windowParkwolf’s North York Moors ranking