Scarborough Circular Walk
Scarborough Circular Walk – Castle, North Bay & Peasholm Park
We were staying near Scarborough Castle for the weekend, so rather than drive somewhere else to start a walk, we set off from close to where we were staying.
It turned out to be a cracking starting point. You are already high above the sea, with lovely views almost as soon as you begin, before the route drops towards the coast and follows Scarborough’s seafront around North Bay.
From there we headed up through Peasholm Park, which gives the walk a completely different feel, before making our way back towards the centre of Scarborough.
We stopped in town for a few pints before tackling the final section back towards the castle. It probably made the walk rather longer than the mileage suggests, but we weren’t in any rush.
Our recorded GPX is a circular route beginning and finishing close to the castle headland. I measured the recorded route at approximately 4.43 miles, with around 77 metres of climbing.
Walk at a Glance
Distance: approximately 4.43 miles / 7.1 km
Grade: easy to moderate
Terrain: paved promenade, park paths, streets and some steady climbs
Ascent: approximately 77 metres / 250 feet
Start point: near Scarborough Castle
Parking: we were staying near the castle so did not need to park; Castle Road car park is a council-managed option in this part of Scarborough (North Yorkshire Council)
Toilets: available around Marine Drive, North Bay and Peasholm Park (North Yorkshire Council)
Refreshments: plenty of options around North Bay, Peasholm Park and Scarborough town centre
Public transport: Scarborough railway station is in the town centre and has toilets, step-free access and bus connections (TransPennine Express)
Allow: around 2½–3 hours without long stops; longer if you stop for food, drinks or sightseeing
Starting Near Scarborough Castle
We started close to Scarborough Castle simply because that was where we were staying for the weekend, but it turned out to be one of the best parts of the route.
The elevated position gives you a lovely introduction to the walk, with views over Scarborough and out towards the coast before you have really got going.
Scarborough Castle occupies the prominent headland between the town’s two bays. The site has been used and fortified for thousands of years, and the ruined medieval castle still dominates the skyline above the seafront. (English Heritage)
From the castle area we began dropping down towards the sea.
There is a fair change in height here, but the reward is that you go from the high ground around the castle to the waterfront surprisingly quickly.
Walking Around the Coast
Once down by the sea, this becomes a straightforward and very enjoyable coastal walk.
There is something about walking Scarborough rather than simply driving into it that makes you notice the shape of the place much more. The castle headland rises behind you while the coastline opens out ahead.
We followed the seafront around towards North Bay, with the sea alongside us for a good stretch of the route.
It is mainly easy walking here, so there is plenty of opportunity to enjoy the views rather than concentrating on where you are putting your feet.
This was one of our favourite sections.
You have the open coast on one side, Scarborough rising behind you and the long sweep of the bay ahead. On a decent day it is the sort of stretch where you find yourself stopping every so often just to look back.
North Bay
The route continues around North Bay before eventually leaving the immediate seafront and turning towards Peasholm Park.
North Bay feels a little different from the busier parts of Scarborough around the harbour and South Bay. There is still plenty going on, but the promenade and open beach give it a more spacious feel.
There are also several opportunities here to stop for a drink, coffee or something to eat if you want to make more of a day of the walk.
We carried on, because Peasholm Park was the next part we particularly wanted to walk through.
Walking Through Peasholm Park
The change from coast to parkland is one of the things that makes this route work so well.
After spending a good part of the walk next to the North Sea, you suddenly find yourself among trees, water and landscaped paths.
Peasholm Park is an oriental-themed park with streams, waterfalls, small bridges, gardens and tree-lined paths. It sits only a short distance from North Bay, but once you are inside it feels remarkably separate from the seafront.
We really enjoyed the walk up through here.
There is some climbing as you make your way through the park, but nothing particularly severe. The paths twist through the trees and around the water, so it feels much more interesting than simply walking straight back through the streets.
It is also a good place to slow the pace down for a while.
Public toilets are available at Peasholm Park, which is useful to know if you are following the route.
From Peasholm Park Back Towards Town
Leaving Peasholm Park, the route becomes more urban again as you begin working your way back towards central Scarborough.
Normally a section through town might feel like the less interesting part of a walk, but on this route it fits quite well.
You have already had the castle, coastline, beach and park, so wandering back through Scarborough gives the walk another change of character.
It also means you are never short of somewhere to stop.
Which is exactly what we did.
A Few Pints in Scarborough
By the time we reached town, we decided there was no great urgency to get back.
So we stopped for a few pints.
For research purposes, obviously.
There are loads of pubs, cafés and places to eat around central Scarborough, so you can easily turn this into more than just a two-hour walk.
We were there for the weekend, which meant we could take our time rather than worrying about driving home afterwards.
After a few drinks, we eventually set off again for the final climb back towards where we had started.
The Final Climb Back Towards the Castle
This is the bit that reminds you that Scarborough is not flat.
After the relatively easy seafront walking, there is some climbing as you head back towards the castle headland.
It is not difficult, but if you have already walked several miles — and stopped for a few pints — you will certainly notice it.
As you gain height again, the views start opening back up and the walk finishes almost as well as it begins.
Our GPS track closes the loop back close to its starting position near the castle.
A Little History of Scarborough Castle
The headland above Scarborough has been important for far longer than the medieval castle ruins might suggest.
Archaeological evidence shows human activity here going back thousands of years. A Roman signal station was built on the headland in the late fourth century, forming part of the defensive system along this stretch of the coast. (English Heritage)
The first documented medieval castle was established by William le Gros in the 12th century. After the castle passed to the Crown, Henry II began rebuilding it in 1159, including the great tower whose remains still dominate the site today.
The castle later saw sieges, royal visits and fighting during the English Civil War. Its position high above the coast makes it obvious why the headland was considered so important.
Starting and finishing the walk here adds something to the route. It is not simply a convenient point on the map; it is one of Scarborough’s most historic locations.
Is This Scarborough Walk Difficult?
We would rate it easy to moderate.
The distance is only around 4.4 miles and much of the route follows good surfaced paths, promenades and streets.
The main thing to be aware of is the climbing.
You begin high near the castle, descend to the coast, gain height again around Peasholm Park and then have another climb towards the castle at the end.
There is nothing extreme, but it is not completely flat.
Is It Suitable in Wet Weather?
Most of this route is on surfaced ground, so it should generally be a better option in poor weather than many countryside walks.
That said, exposed sections around the coast can obviously feel very different in strong winds or bad weather, so conditions are worth checking before setting off.
Where Can You Use the Toilets?
There are useful facilities along the route.
North Yorkshire Council currently lists public toilets at Royal Albert Drive/Marine Drive, the North Bay Beach Management Centre and Peasholm Park. (North Yorkshire Council)
That means you are not dependent on reaching the town centre.
Where Can You Stop for Food or Drink?
You are spoilt for choice on this one.
There are places to stop around North Bay, refreshments around Peasholm Park and plenty of cafés, pubs and places to eat once you reach central Scarborough. We stopped for somthing to eat at Beach Hut Creations and Tearoom
Then Lyn needed some ale so we chose the pub option and had a few pints in town before finishing the walk.
Explore More Yorkshire Walks
If you enjoyed this route, have a look through our Yorkshire Walks for more routes that Lyn and I have personally walked and recorded. (The White Shire)
You can narrow things down further on our North Yorkshire Walks page, which includes routes across the Dales, towns, countryside and Yorkshire coast. (The White Shire)
And if you are spending longer in the area, our Places to Visit in Yorkshire section has more ideas for days out around the county. (The White Shire)
Walked by Michael and Lyn
Lyn and I walked and GPS-recorded this route on 18 September 2026 while staying in Scarborough for the weekend.
Starting near the castle worked brilliantly for us. We had lovely views almost immediately, enjoyed the long coastal stretch, really liked walking up through Peasholm Park and then wandered back through town with a few pints along the way.
It is not a remote countryside walk, and it does not try to be. What makes it enjoyable is how much of Scarborough you see in a relatively short distance.
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