Staithes, Cowbar, Roxby Wood and Borrowby Dale

• Start in Staithes village centre and cross to Cowbar, taking in the harbour and Cowbar Nab.
• Follow the coast west toward Bias Scar, then turn inland across the A174.
• Enter Roxby Woods and follow the path beside Roxby Beck.
• Cross the substantial footbridge and climb to Saint Nicholas church in Roxby.
• Take roads and field paths past Oaks Farm and Borrowby Grange.
• Drop into Oakrigg Wood and Borrowby Dale, reach Port Mulgrave, then return along the coast to Staithes.

The mix is varied: coastal path, narrow steep village streets, sections of road walking, open field paths, woodland tracks and beck-side paths. The climbing comes in short, repeated pulls rather than one long ascent. Expect uneven ground and mud in the woods and the dale, and firmer going on the road stretches.

The coastal sections run near steep drops, so keep well back from cliff edges and away from any crumbling ground. The Roxby Woods stretch is the trickiest to follow, with forks that can mislead. Stay with the path beside Roxby Beck and use the substantial footbridge, not the smaller crossing, which leads to a dead end.

Staithes gives tightly packed historic cottages and a working harbour under high cliffs. The coast opens out at Cowbar Nab and again on the run back from Port Mulgrave, where the remains of the former harbour are still visible. Inland you swap that for the shade and water of Roxby Woods, open farmland and the quiet of Borrowby Dale. The cliffs and shoreline here reflect a long history of shale, ironstone and jet working.

The walk starts in Staithes village centre. Cars cannot drive into the old village, so use the car parks at the top of the bank, with Bank Top the practical choice, and walk down. The bank is steep in both directions, so save energy for the climb back at the end.

Ordinary dogs are welcome on the public route. Coastal paths can run beside unfenced high cliffs and livestock is common in the farm fields, so keep dogs under close control, use a short lead near farm animals, never allow chasing of livestock or birds, and clean up after them.

If the full inland loop is more than you want, the one-mile clifftop walk from Staithes to Port Mulgrave gives much of the coastal interest in a far simpler outing.