Thornwick Bay

Scarborough Castle crowns a headland between the town's two bays. Climb to the viewing platforms in the Inner Bailey and the Great Tower for views over the town, the harbour and the bay. An exhibition tells the story of the site, including a Bronze Age sword on display, and there's a World Builder trail for younger visitors.

Tip: Leave plenty of time to wander the wide grassy headland as well as the castle itself.

Burton Agnes Hall is an Elizabethan manor house near Driffield, built in the early 1600s. Inside, the Long Gallery has a richly plastered ceiling, and many 17th-century fittings survive, including carved woodwork, plaster ceilings and an alabaster overmantel. Next door stands the Norman Manor House, first built in 1173. Both are Grade I listed, and the Hall is still a lived-in family home.

Tip: Book tickets online ahead if you can. Card payments only, as cash isn't accepted on site.

The Rotunda is the Museum of Coastal Heritage and Geology, opened in 1829 and among the world's first purpose-built museums. It was built to a design suggested by William Smith, the "Father of English Geology", and looks out over Scarborough's South Bay. Inside, a Georgian gallery has a frieze of the local coastline's geology, drawn by Smith's nephew John Phillips.

Tip: There's no car park on site, so use the nearby South Bay underground car park or Palm Court multi-storey. Check which galleries are open, as the West Wing is closed.

Sledmere House is a Grade I listed Georgian country house between Driffield and Malton, and the ancestral home of the Sykes family. It is known for its Chippendale and Sheraton furnishings, fine plasterwork and the Long Library, which is described as one of the most beautiful rooms in England. The Turkish Room, with its Kutahya tiles, is another highlight.

Tip: The farm shop, adventure play area and farm do not need a ticket and parking is free, but check the website for current opening times before you set off.

Beverley Minster is the parish church of Saint John and Saint Martin in Beverley, East Riding of Yorkshire. It is one of the largest parish churches in the UK, bigger than a third of English cathedrals, and is regarded as a Gothic masterpiece.

Tip: Tours, including the Roof Tour, can be booked through the Minster's website. On Sunday mornings access is limited to the west end until services finish.

Eden Camp is a large Second World War museum near Malton in North Yorkshire. It fills a former prisoner-of-war camp, and the museum's displays are spread across the camp's original huts. Italian and German prisoners were held here, and the huts have since been repaired and renovated for visitors.