Hull
The Humber Bridge was the world's longest single-span suspension bridge, and it's still an impressive sight. The Deep is the world's only submarium and its glass lift provides incredible underwater views. Hull's history can be seen in the Maritime Museum, the former deep-sea trawler Arctic Corsair and Wilberforce House, birthplace of slavery abolitionist William Wilberforce.

Beverley
The majestic Minster, one of the finest cathedral-size gothic churches in Europe, dominates the quaint, medieval town of Beverley. You'll find Yorkshire's last working windmill and the Museum of East Riding Rural Life just five miles away at Skidby.

Bridlington
Bridlington has something for everyone - long, sandy beaches, a seafront fairground and a bustling harbour where you just can't resist tucking into fish and chips. Don't miss the boat trip to Flamborough Head to see the lighthouse and the huge flocks of birds, including puffins, nesting on the dramatic 400ft cliffs.

Scarborough
It was Britain's first ever seaside resort, and with its castle, harbour, bays and sandy beaches, it's still a great favourite. Seal pups, turtles and otters are among the animals at the Sea Life and Marine Sanctuary.

Whitby
The Captain Cook Memorial Museum occupies the harbourside house where James Cook came to serve his apprenticeship in 1746 and tall ships regularly moor in Whitby. From there it's worth the climb up the 199 steps to the abbey and the visitors' centre. Steam trains run on the North York Moors Railway throughout the year, connecting with the Esk Valley Line at nearby Grosmont.