The most heavily visited spot on this stretch of coast, ROBIN HOOD’S BAY is made up of gorgeous narrow streets and pink-tiled cottages toppling down the cliff-edge site, evoking the romance of a time when this was both a hard-bitten fishing community and smugglers’ den par excellence. From the upper village, lined with Victorian villas, now mostly B&Bs, it’s a very steep walk down the hill to the harbour. The Old Coastguard Station has been turned into a visitor centre with displays relating to the area’s geology and sealife. When the tide is out, the massive rock beds below are exposed, split by a geological fault line and studded with fossil remains. There’s an easy circular walk (2.5 miles) to Boggle Hole and its youth hostel, a mile south, returning inland via the path along the old Scarborough–Whitby railway line.