Robin Hood’s Bay to Whitby Walk: Ultimate Guide

This walk in the North York Moors National Park, takes you from the cute village of Robin Hood’s Bay, and along the coastal path to reach the harbour town of Whitby, with its narrow streets and Dracula vibes. After which you will follow the Cinder Track back to Robin Hood’s Bay.

Looking along the curving cliffside as it meets the North Sea, on the walk from Robin Hood's Bay to Whitby, on the edge of the North York Moors National Park.

Looking down the rugged rocky cliffside, topped with grass, and with the North Sea below, on the walk towards Whitby from Robin Hood's Bay.

Looking across the North Sea, towards the cute little village of Robin Hood's Bay on the coast, on the walk to Whitby. Behind the village is fields of green as far as the eye can see. — Robin Hood’s Bay

Looking down and along the beach of Saltwick Bay with a green grass covered cliff to behind it to the left, and the North Sea to the right, on the walk towards Whitby from Robin Hood's Bay. — Saltwick Bay

A white coloured path leading straight, along the cliff edge, with grass to the left, and the ruins of Whitby Abbey ahead in the distance, on the coastal walk from Robin Hood's Bay.

Looking down over the red rooftops of Whitby, with the river Esk running across the frame in the middle, halfway through the circular walk from Robin Hood's Bay. — Whitby

As it’s a circular route, you can start at either end. You also don’t have to do the full circular walk, as there is a bus connecting Whitby and Robin Hood’s Bay, so you can just pick one way….

What I’m going to do in this guide, is first give you an overview of the circular Robin Hood’s Bay to Whitby walk route, with full logistics, a map, and tips. This should help you decide, which direction you want to walk, and if you want to walk one way, or do the full circular. I will then go on to describe the route step by step with lots of photos, so you can see what every bit of it is like. At the end I will provide suggestions for other walks near Whitby and Robin Hood’s Bay.

This post uses affiliate links. You can read the privacy policy or disclaimer for more info.

What to expect on the walk between Whitby and Robin Hood’s Bay

A wooden sign saying 'Cleveland Way and Cinder Track' with a black arrow pointing left. The sign is nestled within the tall grass and plants. There is a red rooftop visible over the top of the plants to the left.

The coastal path between Whitby and Robin Hood’s Bay

The coastal path section of the walk between Whitby and Robin Hood’s Bay, is part of the Cleveland Way National Trail. With a view out over the North Sea, it’s nice and cliffy, and quite exposed. It’s also pretty easy to follow. You will be walking close to the cliff edge at some points, but I never felt unsafe when I did it.

The undulating headland cliffs on the left, meeting the blue North Sea to the right, on the coastal walk from Robin Hood's Bay to Whitby. The clifftop is covered in grass.

Looking along the rugged cliffside on the left, with the sea to the right, when walking to Whitby from Robin Hood's Bay. The cliff side is covered in pacthes of grass.

If you walk in the direction from Robin Hood’s Bay to Whitby, you get the best cliff views, as well as a view to Whitby Abbey.

A white coloured path leading straight, along the cliff edge, with a yellow field to the left, and the ruins of Whitby Abbey ahead in the distance, on the coastal walk from Robin Hood's Bay. There is a seagull flying in the air.

Strips of trail leading straight through the grass, with a stone wall to the left and an impressive cliffside ahead, on the coastal walk from Robin Hood's Bay to Whitby. There are two people standing past the wall ahead, looking at the cliff. The blue North Sea is to the right.

The steps in Whitby

In Whitby, you will tackle the 199 steps. These are quite famous steps, and have been around for a long long time. The first record of them is from the 14th century, although they are thought to be much older. They were also originally wooden, but replaced with stone in the 18th century.

Looking down the 199 steps in Whitby, with lots of people walking on them. There are white walled cottages with grey and orange roofs below to the left, and the sea harbour straight ahead.

Fun fact: Although not confirmed, it is thought that these steps were use as a way to test Christian faith and determination. In order to worship at St Mary’s Church, you would first need to tackle the steps. If you did so, you were determined.

If you do the route in the direction of Robin Hood’s Bay to Whitby, you will get to walk down the steps, and not up.

The Cinder Track from Whitby to Robin Hoods Bay

The Cinder Track section of the walk between Whitby and Robin Hood’s Bay, is actually a cycle route, and is fully on well maintained path. It start’s off mostly under tree cover, and opens up a bit later on.

The dirt path of the Cinder Track, lined with green bushes and trees on the walk back to Robin Hood's Bay from Whitby. There is a cyclist ahead on the track.

Looking over the undulating green fields, with a small stone walled cottage in the middle, and the blue North Sea ahead in the distance.

Fun Fact: The Cinder Track is where the old railway line was.

I did find the Cinder Track walk from Whitby to Robin Hood’s Bay a little bit tedious. Walking from Robin Hood’s Bay to Whitby along the coastal path, with grand cliff views, was a solid hike in itself. So to then walk many more miles, on a path without much in the way of views, felt like an afterthought, without any purpose other than to get me back to Robin Hood’s Bay.

The wide, well maintained, cinder track path leading straight ahead. There is overgrown grass and a wooden picnic bench to the left, and tall grass and green bushes to the right.

Don’t get me wrong, it’s a nice trail. But I would have preferred it as its own thing, on a different day.

How long is the walk?

The coastal walk from Robin Hood’s Bay to Whitby, is just under 7 miles. The Cinder track from Whitby, back to Robin Hood’s Bay, is about 6 miles.

All together the full Whitby and Robin Hood’s Bay circular walk (including navigating through Whitby) is 14 miles. It took me about 4.5h to complete.

A rugged dirt trail leading straight, with a grass bank up the left side, and green grass and bushy undulating hills ahead. There is a wooden trail signpost on the right side of the trail, and wire fence.

How difficult is the walk between Whitby and Robin Hood’s Bay?

The route itself between Whitby and Robin Hood’s Bay, both on the coastal path and Cinder track is easy. The length brings it up to moderate difficulty.

The coastal path section of the walk between Whitby and Robin Hood’s Bay, is the more rugged part. With a few small hills, some steps, and lots of undulations. As far as coastal cliffy walks go, it’s one of the easier ones. If you have walked along the South West Coast Path, you will know.

Looking along the undulating, grass covered clifftop, with steps along the trail ahead, on the coastal walk from Robin Hood's Bay to Whitby. The blue sea is to the left.

Looking over the dirt trail, to the undulating hills ahead, covered in pale dirt and grass. There are a few people walking on the hills ahead.

The Cinder Track section of the walk between Whitby and Robin Hood’s Bay is completely level, along a maintained path.

The well maintained path of the Cinder Track leading straight ahead, lined with tall grass and a few bushes, when walking back to Robin Hood's Bay from Whitby.

Is the walk pram friendly?

The Cinder Track from Whitby to Robin Hood’s Bay is pram friendly. The Cleveland Way coastal path is not.

A dirt trail, leading steeply uphill, with a green grass and fern covered hill leading up the left side. There is a person walking along the trail ahead. — This is along the coastal path

Is the walk dog friendly?

I would say that the Robin Hood’s Bay to Whitby circular walk is mostly dog friendly. There are no stiles, although, there is some livestock about along the coastal path section of the walk. Also, there will be some roads when walking through Whitby.

A green grass field filled with grazing sheep, and farm buildings on the other side.

A grass field, with some cows grazing on the other side, and a stone archway bridge behind them. — .

Whitby Abbey

On this walk, you will go right past the gothic ruins of Whitby Abbey, which helped inspire Dracula, by Bram Stoker. I didn’t go inside, but feel free to add it on. It costs £12.70 for adults, and £7.70 for children (at the time of writing). However, entrance is free for English Heritage Members.

Join English Heritage | English Heritage

Explore Membership

Whitby and Robin Hoods Bay Parking

In Robin Hood’s Bay there are two car parks. Station Car Park and Bank Top car park. Both cost about £6 for the day, however, are free during the winter months (end of September to 1st March). You can pay with the RingoApp or cash.

There is however some free parking. On the road leading into Robin Hood’s Bay, near the church, you can park street side for free. Spaces are limited though. I arrived at 9am on Saturday, and a lot was taken.

A small shed sitting on the grass hill, with a view to green grass fields with trees, as far as the eye can see, in Robin Hood's Bay, at the start of the walk to Whitby. — The view from the street side parking in Robin Hood’s Bay

In Whitby, there are lots of car parks. I would park the Whitby Abbey car park which has lots of spaces. At the time of writing, it costs £7 for 5 h, or £9 for the day. You can pay contactless or by using the Ringo App.

Tips for walking between Whitby and Robin Hood’s Bay

If you don’t want to walk the full circular, then I would pick the coastal path from Robin Hood’s Bay to Whitby.
When choosing which direction to walk, I would plan it so that you walk the coastal path section from Robin’s Hood’s Bay to Whitby (as opposed to Whitby to Robin Hood’s Bay). I made sure to look both ways when doing the walk, and I think the views this way are better. If you are already in Whitby, you can get a bus to take you to Robin Hood’s Bay, then walk back.
Both Whitby and Robin Hood’s Bay have a sandy beach. I didn’t go onto either, but feel free to include a detour to them on the walk. Just note, that you should aim for low tide at Robin Hood’s Bay. At high tide, the beach is swallowed up. You can check the tide times here.
Wear sunscreen. Coast path walks are the ones that get you, even on overcast days.

Top Tips in Whitby

To see the steam train in Whitby, you can find the train times here. You will want to time it so that you are on the Larpool viaduct when it leaves Whitby.

A black steam train with, a white cloud of steam shooting out the top, on the circular walk between Whitby and Robin Hood's Bay. There is a path leading along the right side of the railway track, and a wall of green bushes along the left side of the track. — I am standing under the viaduct here. I had gone the wrong way. So you should see it from above, and not below. I explain this in detail in the route description further down the page.

If you want to enjoy Whitby without the craziness, then try to plan the walk for a weekday…in winter.

A road with a pavement to the left, and masses of people walking along it. — This is what it was like walking through Whitby

If you want to explore Whitby Abbey, and think you will be visiting more English Heritage sites, then it might be worth getting a membership.

For more English Heritage sites, you could try this walk to Rievlaux Abbey, further inland in the North York Moors National Park. Or over in the Howardian Hills, you could visit Kirkham Priory. Both of these walks can be done for free, however, you would need to pay to visit the main sites.

Logistics

Start/Finish: For this guide, Robin Hood’s Bay. However, as it’s a circular, you could start at either end.
Where is it: Located along the coast of the North York Moors National Park. Post code for Robin Hood’s Bay is YO22 4RE.
Public Transport: Bus X93 Max gets you between Whitby and Robin Hood’s Bay, with a 15min journey. In Robin Hood’s Bay, the bus stop is on Thorpe lane. The bus stop in Whitby, is right by the train station. This bus runs between Scarborough and Middlesborough. Whitby is on a train line, which you can get to from Middlesborough.
Distance: 14.5 miles
Time: 4h 30min
Difficulty: Moderate
Terrain: Maintained Path, dirt trail, grass, steps, road.
Amenities: Public toilets at the car parks (cost 40p in the Whitby one, and Bank Top in Robin Hood’s Bay)
Time of year: I walked the Whitby and Robin Hood’s Bay circular in summer.

Map for the Robin Hood’s Bay to Whitby circular walk

Note: Don’t follow the little loop in Whitby. I went the wrong way and had to loop back.

You can find my more detailed route map for the Robin Hood’s Bay to Whitby circular walk on Alltrails.

For more from the North York Moors, you can read about all the best walks I recommend here.

Route description for the Robin Hood’s Bay to Whitby circular walk

If you are starting from the main area of Robin Hood’s Bay, walk up the main road. If starting from the street side by the church, follow the road leading towards Robin Hood’s Bay, then at the next road, instead of turning right to walk down to the bay, turn left. You should see the post office cafe here.

A road running diagonally across the screen from bottom right to left, with the post office on the other side, with wooden picnic benches outside, and a tree. There are people sitting on the benches. — Walk along this road

Follow the road up as it then curves to the right. Then as the road curves left, you should see a signpost for the Cinder Track and Cleveland Way. Follow it.

A trail signpost pointing right and left for the Cinder track and Cleveland Way, at the start of the walk from Robin Hood's Bay to Whitby. The sign is black with white writing, at the top of a wooden post. There is tall grass and bushes behind it, and the road curving on the left.

There is now an unusual amount of signage, telling you which way to go. So follow them.

When you reach the fork junction in the photo below, take the right, which will lead you onto the coastal path section of the Cleveland Way, towards Whitby.

A dirt trail split, with a strip of grass and bushes in thew middle, with a wooden trail signpost. — Take the right, which leads to the coastal path

Robin Hood’s Bay views

The path to start, is very neat and well maintained. Then when you reach the wooden bench, you will have a lovely view towards Robin Hood’s Bay below.

A path leading straight ahead, with green fern leaves to the right, and a field to the left. There is a wire fence along the left side of the path.

A wooden bench facing right, with the path behind it on the left. There are bushes in front of the bench, and wooden fence.

Looking over the bush tops, down to the sea, where is meets the coast, with the small village of Robin Hood's Bay on the coastline, on the walk towards Whitby. There are fields of green behind the village, as far as the eye can see.

Further along, through the gate, you will be in a field with what’s called a Rocket Post.

A wooden gate, with an field on the other side, with a few black and orange cows grazing, and a rocket post on the left. — That’s the rocket post over to the left

Fun Fact: Rocket Posts were used by coastguards to practice rescuing shipwrecked sailers.

This one isn’t the original, as that one was very old and falling apart. It is an exact replica though.

Now continue along the grass trail, keeping to the fence on the right, and exit the Rocket Post field through a gate further along.

A large green grass field, with a wire fence along the edge on the right, and the North Sea visible ahead in the distance. There is s cow grazing in the field ahead.

Back onto the dirt trail, make sure to occasionally look back for more views towards Robin Hood’s Bay.

The undulating clifftop trail

The trail now becomes more rugged, and undulates along the clifftop, with a few steps thrown in. For a while, you don’t have a lot of grand views. Just mostly the North Sea.

Dirt trail through the grass, with fern bushes to the right, a wire fence to the left, and bushes and trees ahead.

Stone steps surrounded by tall grass and green leaved plants, and trees.

A rugged dirt trail leading straight ahead, with tall green grass and bushes to the right, and a wire fence and green grass field to the left. The blue North Sea is straight ahead past the trail.

Stoney steps leading down hill, with bushes to the right, and overgrown grass and a wire fence to the left, and a green bush covered uphill ahead. There is a person walking down the steps.

A path of dirt ground, with a wooden gate and fence up ahead. There is a person walking along the other side of the fence.

A long strip of trail leading across the undulating grass hilltop. There is a person walking along the trial ahead.

I did wonder if this is what it would be like for the whole walk from Robin Hood’s Bay to Whitby. I hoped it wasn’t. Look, it is nice, but I’m a cliffy girl….

The cliffs

My dreams came true, when the cliffs started to present themselves. Spectacular views of the cliff headland ahead. This is exactly why I love coastal walking.

The grass clifftop, with cliff headlands below to the right, leading into the blue sea. There are a few people walking along the trail to the left.

As I mentioned earlier, I looked back a lot to check out the view, but it was nothing compared to what was ahead. This is why I recommend walking in this direction, from Robin Hood’s Bay to Whitby.

The rocky cliffside curving around, with the dark blue sea below, on the coastal walk from Robin Hood's Bay to Whitby.

The path is easy to follow, as it guides you along the cliff top. There are a few arrows, just incase you get confused.

A dirt trail leading ahead, with a grass field and wire fence to the left, and undulating grass covered hilltops ahead, when walking to Whitby from Robin Hood's Bay.

Yellow arrows on a wooden post, with a big green grass and bush covered hill in the distance behind it.

Looking down over the green fern leaves, with the rock cliffside where is meets the sea.

A rigged dirt trail along the cliff top, with the cliffside just visible below to the right. The clifftop is covered in grass ahead.

The rigged trail leading straight, with bushes to the right, a grass field to the left, and the coastal cliffside ahead. There is a person walking on the other end of the trail. There is a wire fence to the left side of the trail.

The dips

The trail mostly undulates gently, however, there are a few dips along the way, where you have a steep drop down and steep climb back up…..Maybe with some steps.

Looking to a dip in the hills, which are covered in tall green grass and bushes. There is a dirt trail visible up the hill ahead. There are cliffs meeting the sea to the right. — There is a dip down there

Looking over the grass, and along the cliff coastline, on the coastal walk to Whitby from Robin Hood's Bay. The

A dirt trail, with a green grass bank to the left, and wire and wooden fence to the right, with a green grass and tree covered hill ahead. There are people walking up the hill ahead. — Another dip down there

A wooden plank walking under the trees, surround by green leaved plants.

Stone steps leading uphill, surrounded by bushes.

A dirt path on the left, with a strip of grass to the right, and the Ricky cliffs below, leading into the North Sea.

A thin path leading down the hill on the left, then up the hill in the distance. The path runs along a grass covered clifftop, with the blue North Sea to the right.

A dirt path with a few stone steps leading downhill, surround by green leaved plants.

The views looking back

There is the occasional lovely view of the cliffs view looking back. However, they are better further along, as you near the Whitby end of the coastal path.

Looking over the green fern towards a rock cliff face curving ahead, on the coastal walk from Robin Hood's Bay to Whitby.

The lighthouse

Soon you will get a view to a white lighthouse ahead. The coastal path takes you right alongside it.

Looking across the green grass hill, to a white lighthouse ahead, and the blue North Sea behind.

A couple of people walking up the steps on the path to the left, leading up the grassy hill, with a white lighthouse to the right, on there coastal path between Whitby and Robin Hood's Bay.

As I walked by, I saw there was a building attached to it. I though about living there, although, I would need to put a big hedge in, for a bit of privacy from people walking along the coast path.

I have since looked it up, and you can actually live there. It’s a self catering cottage.

The final stretch of the coastal walk from Robin Hood’s Bay to Whitby

When you reach the road, go straight across to pick up the trail on the other side. The trail will undulate some more, with a few more steps, before you get a wonderful view to a beach and headland ahead. That is Saltwick Bay.

A road, lined with a stone wall. There is a grass field on the other side of the stone wall, and a white building in the distance to the left, leading towards the blue sea. There is a wooden gate in the stone wall, with a wooden footpath signpost.

A slim path along the grass, undulating clifftop, leading to steps, on the coast path walk from Robin Hood's Bay to Whitby. The blue North Sea is below to the right.

Looking along the curving coastline, with Saltwick Bay ahead, and the blue North Sea to the right, on the coastal walk between Whitby and Robin Hood's Bay. — Saltwick Bay

I hadn’t looked at my map for a while, so I didn’t know exactly how far along I was in the walk, but at this point, I knew I must be near Whitby, as it was getting noticeably busier.

Walk through the Whitby holiday park

The trail will soon take you through the Whitby Holiday Park. It’s a large holiday park, and feels a bit jarring, after the lovely coastal path. But there is no nice way around. You just follow the main road straight through. Then when you see the footpath sign to Whitby, follow it.

A trail track through the grass, with holiday caravans ahead.

A wooden public footpath sign, pointing left to Robin Hood's Bay, and right to Whitby, partway through the walk. There are holiday caravans behind.

A wooden footpath sign on the grass, pointing left to Whitby.

A wide path, lined with grass and some bushes, and the cliffs and blue sea visible ahead.

Walk to Whitby Town

Once you walk up the steps, you will get your first view to the ruins of Whitby Abbey ahead, with some cliffy goodness below. That’s another reason to walk in this direction from Robin Hood’s Bay to Whitby. For the Abbey view.

A gravel footpath on the left, with a wire fence on the right, with some tall grass on the other side, and the cliff face dropping down. Way in the distance are the ruins of Whitby Abbey. — Can you see Whitby Abbey in the distance?

Looking down the rocky cliff face, with the sea below, near the end of the coastal walk from Robin Hood's Bay to Whitby.

Looking down to a secluded beach, with the rocky cliff rising up on the left, and the sea to the right, near the end of the coastal walk from Robin Hood's Bay to Whitby.

The path will lead you straight to Whitby Abbey, and the entrance, if you want to go in. I decided not to, as it was so so busy by this point, which messed up the peaceful vibes I had so far had.

A widę footpath, leading to the ruins of Whitby Abbey straight ahead. There are a few people walking on the footpath. — Whitby Abbey

199 steps

When you arrive in the car park, next to the Whitby Abbey Ruins, you want to walk over to the opposite corner (see where the ice cream van is in the photo below).

A large car park, with some cars parked around the right side, and a yellow tour bus and white ice cream van parked on the left.

Then go into the church and graveyard, and follow the path on the left. This will lead you to the 199 steps. This is the third reason to walk in the direction of Robin Hood’s Bay to Whitby, so you can walk down these steps and not up.

A graveyard, with the church to the right, and two footpaths, separated by grass and headstones. There are lots of people walking on both paths. — Take the left path here

Loots of people walking down the 199 steps, with a view to the rooftops of Whitby below, and the river running though them, after the walk from Robin Hood's Bay.

Now, there is a debate as to how many steps there actually are. And you are supposed to count as you walk them. I didn’t. There were way too many people which distracted me. I made a mental note to come back in winter. Through all the people, it looked like it would be worth visiting again…at a quieter time.

Walk through Whitby town, to head back towards Robin Hood’s Bay

At the bottom of the steps, walk along the narrow street to the left, and follow it around.

A stone road, lined with white coloured buildings, and a white walled pub at the end. There are a few people walking along the road. There is a car parked on the right.

It’s narrow, quirky, high street vibes along here. I have to say though, I was shocked. It was way busier than I was expecting. Too busy. I had intended to wander around Whitby a little, but at the sight of this, I wanted to get out and onto the walking trail back to Robin Hood’s Bay as quickly as possible.

Masses of people walking along a narrow street in Whitby.

To head towards the Cinder Track, when you reach the end of this street, at the main road, turn right to walk across the bridge over the River Esk.

Masses of people walking along the road and over the bridge in Whitby. There are lots of buildings on the other side of the bridge.

Looking along the river Esk, with a ship and fishing boats along the side ahead.

Over the bridge, turn left and follow the river. Continue around the big ship, and along the road with a Coop to your right.

fishing nets on the platform to the left, and the front of a large wooden ship straight ahead, sitting on the river Esk.

A short walk along, make a left turn at the ice cream hut by the car park, which will lead you alongside the marina.

Looking over there harbour with lots of boats moored, on the river Esk, when walking through Whitby. There are lots of red roofed houses on the other side of the river.

I was very relieved when I got here. It was significantly more peaceful. Out of the crowds, I sat on a bench to eat my lunch in peace, whilst looking at all the boats.

From here, continue along the harbour side, and over to the opposite corner of the car park, where you will find a trail sign post, pointing left along the railway riverside trail. Don’t go that way, instead cross over the railway.

A wooden boat on the bank of the river Esk.

A wooden footpath sign with a railway track behind it. — Walk across this railway track

I mistakingly went left…..

The wrong turn and the steam train

Looking on my map, it looked like this trail would lead me to the bridge crossing over the River Esk, which is why I followed it.

My first inkling that something was wrong, was when I could see the viaduct ahead. At first I was intrigued by the bungee jumpers falling off it. Then I realised, this is where I was supposed to cross, but it was very high, and I was on the wrong side of the railway track to get up to it.

A dirt footpath leading straight ahead, with big bushes on the left, the railway track to the right, and a viaduct ahead.

Once I got to it, my suspicion was confirmed.

I was very annoyed at myself. It was hot, and I didn’t want to walk back on myself. Looking on my map, I could see that if I kept going to the next bridge crossing, it would be a slightly shorter distance than going back. Only, I wouldn’t get to walk over the viaduct. I imagined the views on it would be great.

I stood there for a moment, debating what to do, whilst watching the bungee jumpers. Then I heard the steam train. I was annoyed again, that I was missing the steam train. Then realised, I was standing right next to the railway track. How could I forget that.

After the steam train passed, the decision was made. I would walk back.

Finding the Cinder Track

What I should have done, is cross over the railway. So I made my way back, and did just that.

Across the railway, you need to turn left, then when you reach the residential area, follow the very steep path up along the left side. Make sure to look back for a view over the rooftops of Whitby and Whitby Abbey in the distance.

A residential street, with a footpath leading uphill to the left. There are cars parked along the street. — Walk up the steep hill to the left

Looking down the footpath, lined with green leafed bushes, and the rooftops of Whitby visible ahead in the distance. There is a man sitting on a bench next to the footpath.

Keep going, then when you reach the road, there is a side path to the left, to take you under it, and up along the other side.

The main footpath leading to a gate and the road to the right, and a dirt trail leading off it to the left. — Take the left trail here

Follow the road now on the other side (with the road to your right), and take the first left turn which will lead you towards a school. Now, keep left, to get onto a path between the building and fence. Follow the path alongside the field, and it will lead you all the way to the Cinder Track, where you turn left.

A narrow dirt footpath, lined with bushes to the left and some trees and a wooden fence to the right.

A yellow marked road box on the right, and houses to the left, with a public footpath between the two. — Take that little path through there

A wooden footpath sign, pointing left and right for the Cinder Track, on the walk back to Robin Hood's Bay from Whitby. The footpath sign sits in front of green bushes.

The Cinder track, lined with bushes and trees, and a couple of cyclists ahead, on the walk back to Robin Hood's Bay from Whitby.

Follow the Cinder Track from Whitby to Robin Hood’s Bay

A short way along the Cinder track, you will reach the Larpool Viaduct, where you have a nice view along the River Esk on both sides. Way way in the distance, you can see Whitby Abbey. The view wasn’t as grand as I was expecting, but it’s still really nice. I have been spoilt with some of the views I have seen, hiking around Yorkshire, so that’s what I’m comparing it to.

Looking down over the river Esk as it curves to the left. The railway track curves around it on the right side, and there are some red reffed houses on the left side. Across the other side of the river is fields of green with trees as far as the eye can see.

Looking down over the river Esk as it curves to the left around a mud bank, when walking along the Cinder Track from Whitby to Robin Hood's Bay. The right side of the river is full of green leafy trees.

Looking over the green treetops, to the ruins of Whitby Abbey way in the distance. — See the ruins of Whitby Abbey in the distance

Now you just continue following the path. This is what it looks like for most of the walk back to Robin Hoods Bay, with some variations in the terrain.

The Cinder track path lined with masses of green leafed bushes and trees.

It also mixes up between tree cover, open views, and bridge archway tunnels.

Looking over a field of green, with some houses on the other side.

the Cinder track leading through a bridge archway. The track is lined with white flowers bushes.

Looking over the green fields, with some rooftops and church ahead on the other side.

The Cinder Track path leading straight ahead, with a field to the right, and bushes and trees to the left.

The cinder track leading through a bridge arch, on the walk back to Robin Hood's Bay from Whitby. The path is lined with bushes.

Not much navigation is needed. There is a road crossing, but you can pick up the Cinder Track directly opposite.

Someway further along, things will really open up, with a proper view out to sea. I knew I must be near Robin Hood’s Bay now, as I started to recognise a few things.

Looking over the large green field, with some farm buildings on the other side to the left.

Lots of brown and black cows grazing on the grass field, with the blue North Sea on the other side.

Looking down over the undulating clifftop, to the blue north sea on the other side, on the walk from Whitby to Robin Hood's Bay, along the cinder track.

The Cinder track leading straight ahead, lined with steep backs covered in tall grass and a few trees.

Keep going, and you will be led back to where you started.

More walks near Whitby and Robin Hood’s Bay

If you continue along the coast from Robin Hood’s Bay, you will reach Ravenscar. This guide, shows you a circular route, taking you first along the clifftop, and then back along the sandy beach. You might get a chance to spot some seals on this one.

If you continue further south along the coast, you will reach Hayburn Wyke. This is my favourite coastal walk in the North York Moors. At only 3.5 miles, it’s very short, but has the most wonderful waterfall on a secluded bay.

Slightly inland from Whitby and Robin Hood’s Bay, I recommend this route from Goathland to Grosmont. It follows an old railway line through the Esk Valley. You can actually catch the steam train there from Whitby, to then do this walk. It would make a lovely day trip out.

Further inland, you could try Helmsley to Rievaulx Abbey. It’s an easy route, out and back. Rievaulx is English Heritage, but you don’t need to go inside for this walk.

For a side by side comparison, as well as many more walking route ideas, you can check out my North York Moors walking guide.

Pin it for later: Whitby and Robin Hood’s Bay walk guide

Whitby to Robin Hood's bay walk guide, in the North York Moors.