The legenary plane was in West Yorkshire to mark the 80th anniversary of the Dambusters raids.
Scores of people gathered to catch a glimpse of the plane as it made its way across the country as part of a weekend of celebrations.
The video shows the iconic bomber gliding through the air at a level close to those gathered to film and take pictures, as it swoops down and along the valley.
The Lancaster was also due to fly over South Yorkshire on Sunday, but it is thought weather conditions have caused delays in that flight.
The Dambusters raids, also known as Operation Chastise, were enforced on the evening of May 16 and 17, 1943 by 617 Squadron RAF Bomber Command, by using special ‘bouncing bombs’.
Yorkshire air crews played a key role in the Second World War, with RAF Bawtry used as a bomber command centre while RAF Finningley and RAF Lindholme were also used for attacks in Europe.