There’s nothing quite like wandering through a historic town on a brisk autumn day, ambling along cobbled lanes and popping into a snug pub when the temperature drops. Throw in a castle, a woodland stroll and a steam train ride, and you’ve got the perfect autumnal day out. If this sounds like your cup of tea, then we have just the spot for you.

Perched on the fringe of the Yorkshire Dales but merely a stone’s throw from the Lancashire border, the market town of Skipton is brimming with history and offers an abundance of sights and activities. The town’s most renowned landmark is the castle, which majestically sits at the top of the high street. Over 900 years old, it’s one of the most intact and well-preserved medieval castles in the country, boasting many of its original features.

Upon entering through the grand gatehouse, visitors can delve into every corner of the castle, from the Banqueting Hall to the eerie dungeon, reports the Manchester Evening News.

During the English Civil War, the castle withstood a two-year siege from 1643, and a recently unearthed well revealed how they managed to hold out for so long. Today, visitors face no such trials thanks to an on-site tearoom ideal for light snacks and sweet indulgences.

Nestled under the castle is Skipton Castle Woods, independently managed by the Woodland Trust. Free to enter, it’s an ancient woodland habitat that is especially stunning during the autumn months, with trails ranging from easy to challenging.

While Skipton may be known for its stunning medieval castle, the town’s history is not solely rooted in the distant past. It was also significantly shaped by the Industrial Revolution, experiencing a surge in growth due to the construction of the Leeds-Liverpool canal.

The first section of this canal, opened in 1773, ran from Skipton to Bingley.

Originally, the canal was used for transporting goods such as wool, coal and limestone. Nowadays, it offers visitors the chance to take pleasure cruises along the waterway, providing a unique perspective of the town.

Nestled beside the canal in the heart of Skipton is The Boat House Bar, a charming pub boasting beautiful views over the water. This pub is part of the Skipton Ale Trail, an impressive collection of 18 local pubs where you can sample a variety of locally brewed ales and beers.

Other notable stops on the trail include The Castle, a former coaching inn from the 1800s brimming with character, and the Grade II-listed Black Horse pub, which dates back to 1676.

If you manage to tear yourself away from Skipton’s inviting pubs and quaint cobbled streets, you’ll be rewarded with breathtaking views of the surrounding countryside. These vistas are best appreciated from a steam train.

Just a short drive from the town centre is Embsay Station, where you can hop aboard the Embsay and Bolton Abbey Steam Railway. The journey lasts approximately 20 minutes each way, and if you wish, you can spend some time exploring the ruins of Bolton Abbey before your return trip.

Skipton, often dubbed the gateway to the Dales, is a must-visit if you’re planning an extended trip. It’s worth taking the time to explore this stunning national park.

Not too far away is the awe-inspiring limestone pavement at Malham Cove, a remarkable rock formation that even featured in Harry Potter and the Deathly Hallows.