Robin Hood's Bay is one of Yorkshire's most photogenic villages, its red-pantiled cottages tumbling down a steep ravine to a small beach and slipway. The village has a long smuggling history, with a maze of narrow passages and hidden connections between houses. At low tide, the rocky shore reveals fossils and rock pools, forming part of the Jurassic Coast. Spectacular cliff walks connect to Whitby in one direction and Ravenscar in the other. The village is car-free, with parking at the top of the hill and everything reached on foot down steep alleyways.