Dreaming of open roads, sea views, and quiet laybys for your next camper van adventure? A camper van holiday in North Yorkshire is the perfect way to explore some of the UK’s most scenic and iconic coastlines. From historic fishing villages to remote cliff-top viewpoints, the Yorkshire coast offers a variety of routes that are tailor-made for vanlife road trips. Whether you’re planning a weekend escape or a slow-paced scenic tour, these routes are ideal for camper van travel—especially when you base yourself at a peaceful site like Prospect House Farm, just outside Scarborough.
1. Scarborough to Saltburn-by-the-Sea via the Cleveland Way (A171 + Scenic Detours)
Best for: Big views, moorland meets sea, and charming villages
Distance: Approx. 38 miles
Must-see stops: Robin Hood’s Bay, Whitby Abbey, Sandsend, Staithes
This stretch is one of the best North Yorkshire camper van routes—hugging the moorland edge with breathtaking sea views. Begin your journey in Scarborough and head north along the A171. Wander the narrow lanes of Robin Hood’s Bay, grab fish and chips in Whitby, enjoy a peaceful walk on Sandsend beach, and finish at the Victorian gem of Saltburn-by-the-Sea.
Vanlife tip: Park at Abbey Top in Whitby—one of the most scenic spots for campervans with space to turn and enjoy the view.
2. Flamborough to Filey via Bempton Cliffs
Best for: Wildlife lovers and cliffside parking
Distance: Approx. 15 miles
Must-see stops: Flamborough Lighthouse, Bempton RSPB, Hunmanby Gap
This route offers some of the best coastal camping scenery on the Yorkshire coast. Start at Flamborough Head, where chalk cliffs plunge into the sea, and head to Bempton Cliffs—home to puffins and gannets in spring and summer. Continue on to Hunmanby Gap, then wrap up your day in Filey, perfect for a stroll on the promenade.
Vanlife tip: The RSPB site at Bempton has a large, level car park with public toilets—perfect for campervan stopovers.
3. Scarborough to Whitby (Coastal A171 + B1416 Detour)
Best for: A mix of coast and moorland with scenic laybys
Distance: Approx. 22 miles
Must-see stops: Cloughton, Hayburn Wyke, Ravenscar, Robin Hood’s Bay
This route is a classic Yorkshire road trip for campervans, blending dramatic coastline with tranquil moorland. Take the A171 north from Scarborough, detour via Cloughton and the B1416, and explore forested paths to secret beaches at Hayburn Wyke. Stop for coffee in Robin Hood’s Bay, then head into Whitby for sunset.
Vanlife tip: Break the route over two days with an overnight stay at Prospect House Farm, a campervan-friendly site just inland.
4. Cayton Bay to Reighton Sands (A165)
Best for: Easy driving, quiet beaches, and van-accessible parking
Distance: Approx. 10 miles
Must-see stops: Cayton Bay, Hunmanby Gap, Reighton
Ideal for beginner vanlifers or a relaxed day, this short route hugs the coast south of Scarborough. Park up at Cayton Bayfor a morning coffee with a sea view, then continue through Hunmanby Gap and end at Reighton Sands, where you can enjoy the wide beaches and dune-backed views.
Vanlife tip: Look out for laybys near Reighton with panoramic cliff-top views—great for lunch on the go.
5. The Scenic Loop: Scarborough → Forge Valley → Ravenscar → Scarborough
Best for: A circular day trip with inland views and coastal stops
Distance: Approx. 30 miles
Must-see stops: Forge Valley, Hackness, Ravenscar viewpoint
This scenic loop mixes inland forested roads with dramatic sea views. From Scarborough, head west into Forge Valley, a wooded gorge perfect for a morning walk. Continue to the quiet village of Hackness, then loop back via Ravenscar, where moorland meets cliffs in one of the Yorkshire coast’s most underrated beauty spots.
Vanlife tip: The National Trust car park at Ravenscar is campervan-friendly and rarely busy—great for coffee breaks and photo ops.
Base Yourself at Prospect House Farm, Scarborough
Planning a camper van holiday in Yorkshire? Make Prospect House Farm your base. Located just outside Scarborough in the North York Moors National Park, this small, eco-conscious campsite offers:
- Off-grid campervan pitches
- Hot showers and flushing loos
- Peaceful views, wildlife, and starry skies
- Easy access to all five routes listed above
- Camfires, a small shop, pizza nights and electric hook up
- It’s the perfect spot to unwind after a day of exploring Yorkshire’s rugged coastline.
Pro tip: Campervan spaces are limited, so book ahead—especially during summer weekends and holidays.
