We've picked out 16 of the most picturesque small settlements.
This village near Pickering is one of the 'honeypot' villages of the North York Moors. Sheep roam freely and there's a village green and beck. The Ryedale Folk Museum is located here.
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This traditional fishing village near Whitby is a tourism hotspot, and also known for its artists' colony.
This village in Wensleydale is best known for its racing stables and yards. It's home to the ruins of the 12th-century Middleham Castle, and many buildings in the historic centre were built before 1600.
This model village near Shipley was built for the workers of Salts Mill and is now a UNESCO World Heritage Site. Its industrial heritage is beautifully preserved and it's got a thriving arts and culture scene.
This Swaledale village is famous for its brass band and annual show. It appeared in an episode of All Creatures Great and Small.
Haworth, near Keighley, is famous all over the world as the home of the Bronte sisters - their childhood parsonage is now a museum. Has a station on the Keighley and Worth Valley Railway heritage line.
The buildings in this estate village near Beverley is known for its distinctive black and white colour scheme, rustic porches and clay pantiles.
Thornton-le-Dale, near Pickering, is quite literally a chocolate box village - its 17th-century thatched Beck Isle Cottage, now a museum, has appeared on countless sweet tins and calendars.
Wentworth, near Rotherham, was an estate village for Wentworth Woodhouse, and owned by the Fitzwilliam family until 1979, when the 10th Earl of Fitzwilliam died.
This village in Upper Wharfedale was one of the filming locations for Calendar Girls.
This small village in the heart of Heartbeat country has a station on the North Yorkshire Moors Railway with steam-hauled rail services.
The aptly-named Swanland, close to the Humber Estuary, is known for its duck pond. It became popular with Hull's wealthy merchant classes, and is full of fine Georgian and Victorian houses.
Hawes is the home of the Wensleydale Creamery, which produces the world-renowned Wensleydale cheese. It's also got a steam heritage railway.
This village near Barnsley was historically owned by the Spencer-Stanhope family, who lived at nearby Cannon Hall, which is now a major visitor attraction.
This village near Driffield, close to the Sledmere House estate, was famously painted by David Hockney.
The estate village for Harewood House, between Leeds and Harrogate, is known for its traditional stone buildings.